Post on 28-Jan-2019
November 2015
Drehgeber
Oktober 2007
Produktübersicht
Drehgeber für die
Aufzugsindustrie
August 2012
Längenmessgerätefür gesteuerte Werkzeugmaschinen
April 2016
Offene
Längenmessgeräte
Januar 2009
Produktübersicht
Drehgeberfür explosionsgefährdete Bereiche (ATEX)
August 2013
Winkelmessgeräte
mit Eigenlagerung
September 2011
Winkelmessgeräte
ohne Eigenlagerung
Oktober 2015
Modulare
Winkelmessgerätemit magnetischer Abtastung
Comprehensive descriptions of all available interfaces as well as general electrical information are included in the Interfaces for HEIDENHAIN Encoders brochure, ID 1078628-xx.
This catalog supersedes all previous editions, which thereby become invalid.The basis for ordering from HEIDENHAIN is always the catalog edition valid when the order is made.
Standards (ISO, EN, etc.) apply only where explicitly stated in the catalog.
This catalog is not intended as an overview of the HEIDENHAIN product program. Rather it presents a selection of encoders
for use on servo drives.
In the selection tables you will fi nd an overview of all HEIDENHAIN encoders for use on electric drives and the most important specifi cations. The descriptions of the technical features contain fundamental information on the use of rotary, angular, and linear encoders on electric drives.
The mounting information and the detailed specifi cations refer to the rotary
encoders developed specifi cally for drive technology. Other rotary encoders are described in separate product catalogs.
You will fi nd more detailed information on the linear and angular encoders listed in the selection tables, such as mounting information, specifi cations and dimensions in the respective product
catalogs.
BrochureRotary Encoders
Product OverviewRotary Encoders for the
Elevator Industry
BrochureLinear Encoders
For Numerically Controlled Machine Tools
BrochureExposed Linear
Encoders
Product OverviewRotary Encoders for
Potentially Explosive
Atmospheres
BrochureAngle Encoders With
Integral Bearing
BrochureAngle Encoders
Without Integral
Bearing
BrochureModular
Angle Encoders
With Magnetic Scanning
Overview
Explanation of the selection tables 6
Rotary encoders for integration in motors 8
Rotary encoders for mounting on motors 10
Rotary encoders and angle encoders for integrated and hollow-shaft motors 16
Exposed linear encoders for linear drives 18
Technical features and mounting information
Rotary encoders and angle encoders for three-phase AC and DC motors 22
HMC 6 24
Linear encoders for linear drives 26
Safety-related position measuring systems 28
Measuring principles 30
Measuring accuracy 33
Mechanical designs, mounting and accessories 36
General mechanical information 46
Specifi cations
Rotary encoders with integral bearing
ECN/EQN 1100 series 54
ERN 1023 56
ERN 1123 58
ECN/EQN 1300 series 60
ECN/EQN 400 series 64
ERN 1300 series 66
EQN/ERN 400 series 68
ERN 401 series 70
Rotary encoders without integral bearing
ECI/EQI 1100 series 72
ECI/EBI 1100 series 74
ECI/EQI 1300 series EnDat01 76
ECI/EQI 1300 series EnDat22 78
ECI/EBI 100 series 80
ERO 1200 series 82
ERO 1400 series 84
Electrical connection
Interfaces 86
Cables and connecting elements 98
Interface electronics 107
Diagnostic and testing equipment 109
Contents
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i
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ii
4
Encoders for servo drives
Controlling systems for servo drives require measuring systems that provide feedback for the position and speed controllers and for electronic commutation.
The properties of encoders have decisive infl uence on important motor qualities such as:• Positioning accuracy• Speed stability• Bandwidth, which determines drive
command-signal response and disturbance rejection capability
• Power loss• Size• Noise emission• Safety
Digital position and speed control
Position
controller
Speed
controllerDecoupling Inverter
Current
controller
Calculation of
the speed
Rotary encoder ( actual position value, actual speed value,commutation signal)
HEIDENHAIN offers the appropriate solution for any of a wide range of applications using both rotary and linear motors:
• Incremental rotary encoders with and without commutation tracks, absolute rotary encoders
• Incremental and absolute angle encoders
• Incremental and absolute linear encoders
• Incremental modular encoders
Rotary encoders
5
Rotary encoder
Motor for “digital” drive systems (digital position and speed control)
All the HEIDENHAIN encoders shown in this catalog involve very little cost and effort for the motor manufacturer to mount and wire. Encoders for rotary motors are of short overall length. Some encoders, due to their special design, can perform functions otherwise handled by safety devices such as limit switches.
Linear encoders
Overv
iew
Angle encoders
6
Explanation of the selection tables
The tables on the following pages list the encoders suited for individual motor designs. The encoders are available with dimensions and output signals to fi t specifi c types of motors (DC or AC).
Rotary encoders for mounting on motors
Rotary encoders for motors with forced ventilation are either built onto the motor housing or integrated. As a result, they are frequently exposed to the unfi ltered forced-air stream of the motor and must have a high degree of protection, such as IP64 or better. The permissible operating temperature seldom exceeds 100 °C.
In the selection table you will fi nd:• Rotary encoders with mounted stator coupling with high
natural frequency—virtually eliminating any limits on the bandwidth of the drive
• Rotary encoders for separate shaft couplings, which are particularly suited for insulated mounting
• Incremental rotary encoders with high quality sinusoidal
output signals for digital speed control• Absolute rotary encoders with purely digital data transfer or
complementary sinusoidal TTL or HTL incremental signals• Incremental rotary encoders with TTL or HTL compatible
output signals
• Information on rotary encoders that are available as safety-related position encoders under the designation functional
safety
For selection table see page 10
Rotary encoders for integration in motors
For motors without separate ventilation, the rotary encoder is built into the motor housing. This confi guration places no stringent requirements on the encoder for a high degree of protection. The operating temperature within the motor housing, however, can reach 100 °C and higher.
In the selection table you will fi nd:• Incremental rotary encoders for operating temperatures up to
120 °C, and absolute rotary encoders for operating temperatures up to 115 °C
• Rotary encoders with mounted stator coupling with high natural frequency—virtually eliminating any limits on the bandwidth of the drive
• Incremental rotary encoders for digital speed control with sinusoidal output signals of high quality—even at high operating temperatures
• Absolute rotary encoders with purely digital data transfer—suited for the HMC 6 single-cable solutions—or complementary sinusoidal incremental signals
• Incremental rotary encoders with additional commutation
signal for synchronous motors• Incremental rotary encoders with TTL-compatible output
signals
• Information on rotary encoders that are available as safety-related position encoders under the designation functional
safety
For selection table see page 8
7
Rotary encoders, modular encoders and angle encoders for
integrated and hollow-shaft motors
Rotary encoders and angle encoders for these motors have hollow through shafts in order to allow supply lines, for example, to be conducted through the motor shaft—and therefore through the encoder. Depending on the conditions of the application, the encoders must either feature up to IP66 protection or—for example with modular encoders using optical scanning—the machine must be designed to protect them from contamination.
In the selection table you will fi nd:• Angle encoders and modular encoders with the measuring
standard on a steel drum for shaft speeds up to 42 000 rpm
• Encoders with integral bearing, with stator coupling or modular design
• Encoders with high quality absolute and/or incremental
output signals
• Encoders with good acceleration performance for a broad bandwidth in the control loop
For selection table see page 16
Linear encoders for linear motors
Linear encoders on linear motors supply the actual value both for the position controller and the velocity controller. They therefore form the basis for the servo characteristics of a linear drive. The linear encoders recommended for this application:• Have low position deviation during acceleration in the measuring
direction• Have high tolerance to acceleration and vibration in the lateral
direction• Are designed for high velocities• Provide absolute position information with purely digital data
transmission or high-quality sinusoidal incremental signals
Exposed linear encoders are characterized by:• Higher accuracy grades• Higher traversing speeds• Contact-free scanning, i.e., no friction between scanning head
and scaleExposed linear encoders are suited for applications in clean environments, for example on measuring machines or production equipment in the semiconductor industry.
For selection table see page 18
Sealed linear encoders are characterized by:• A high degree of protection• Simple installationSealed linear encoders are therefore ideal for applications in environments with airborne liquids and particles, such as on machine tools.
For selection table see page 20
8
Selection guide
Rotary encoders for integration in motorsProtection: up to IP40 (EN 60 529)
Series Overall dimensions Mechanically
permissible
speed
Natural freq. of
stator
connection
Maximum
operating
temperature
Voltage supply
Rotary encoders with integral bearing and mounted stator coupling
ECN/EQN/ERN
1100
12 000 rpm 1000 Hz 115 °C DC 3.6 V to 14 V
6000 rpm 1600 Hz 90 °C DC 5 V ±0.5 V
ECN/EQN/ERN
1300
15 000 rpm/12 000 rpm
1800 Hz 115 °C DC 3.6 V to 14 V
15 000 rpm 120 °CERN 1381/4096:80 °C
DC 5 V ±0.5 V
DC 5 V ± 0.25 V
DC 10 V to 28.8 V
Rotary encoders without integral bearing
ECI/EQI 1100 15 000 rpm/12 000 rpm
– 110 °C DC 3.6 V to 14 V
ECI/EBI 1100 115 °C
ECI/EQI 1300 15 000 rpm/12 000 rpm
– 115 °C DC 4.75 V to 10 V
DC 3.6 V to 14 V
ECI 100 6000 rpm – 115 °C DC 3.6 V to 14 V
EBI 100
ERO 1200 25 000 rpm – 100 °C DC 5 V ± 0.5 V
ERO 1400 30 000 rpm – 70 °C DC 5 V ± 0.5 V
DC 5 V ± 0.25 V
DC 5 V ± 0.5 V
1) Functional safety upon request 2) After internal 5/10/20/25-fold interpolation
(not with ERN)
9
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Interface Model Further
information
512 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ECN 1113/EQN 1125 Page 54
– 8 388 608 (23 bits) EnDat 2.2/22 ECN 11231)
/EQN 11351)
500 to 8192 3 block commutation signals TTL ERN 1123 Page 58
512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ECN 1313/EQN 1325 Page 60
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 13251)
/EQN 13371)
1024/2048/4096 – TTL ERN 1321 Page 66
3 block commutation signals ERN 1326
512/2048/4096 – 1 VPP ERN 1381
2048 Z1 track for sine commutation ERN 1387
– 16 777 216 (24 bits) –/4096 DRIVE-CLiQ ECN 1324 S/EQN 1336 S Page 62
– 524 288 (19 bits) –/4096 EnDat 2.2/22 ECI 11191)
/EQI 11311)
Page 72
262 144 (18 bits) –/65 5363)ECI 1118/EBI 1135 Page 74
32 524 288 (19 bits) –/4096 EnDat 2.2/01 with 1 VPP ECI 13191)
/EQI 13311)
Page 76
– EnDat 2.2/22 Page 78
32 524 288 (19 bits) – EnDat 2.1/01 with 1 VPP ECI 119 Page 80
– EnDat 2.2/22
65 5363) EnDat 2.2/22 EBI 135
1024/2048 – TTL ERO 1225 Page 82
1 VPP ERO 1285
512/1000/1024 – TTL ERO 1420 Page 84
5000 to 37 5002) TTL ERO 1470
512/1000/1024 1 VPP ERO 1480
3) Multiturn function via battery-buffered revolution counter
10
Rotary encoders for mounting on motorsProtection: up to IP64 (EN 60 529)
Series Overall dimensions Mechanically
permissible
speed
Natural freq. of
stator
connection
Maximum
operating
temperature
Voltage supply
Rotary encoders with integral bearing and mounted stator coupling
ECN/ERN 100 D 30 mm:6000 rpm
D > 30 mm:4000 rpm
1100 Hz 100 °C DC 3.6 V to 14 V
DC 5 V ± 0.5 V
85 °C DC 10 V to 30 V
ECN/EQN/ERN 400 Stator coupling 6000 rpm
With two shaft clamps (only for hollow through shaft): 12 000 rpm
Stator coupling: 1500 HzUniversal stator coupling: 1400 Hz
100 °C DC 3.6 V to 14 V
DC 4.75 V to 30 V
DC 5 V ± 0.5 V
DC 10 V to 30 V
70 °C
100 °C DC 5 V ± 0.5 V
ECN/EQN/ERN 400 Stator coupling 6000 rpm
With two shaft clamps (only for hollow through shaft): 12 000 rpm
Stator coupling: 1500 HzUniversal stator coupling: 1400 Hz
100 °C DC 10 V to 30 V
DC 4.75 V to 30 V
DC 3.6 V to 14 V
DC 10 V to 28.8 V
ECN/EQN/ERN 400 Expanding ring coupling
15 000 rpm/12 000 rpm
Expanding ring coupling: 1800 HzPlane-surface coupling: 400 Hz
100 °C DC 3.6 V to 14 V
15 000 rpm DC 5 V ± 0.5 V
DC 5 V ± 0.25 V
1) Functional safety on request
Universal stator coupling
Plane-surface coupling
(not with ERN)
50.522
83.2
11
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Interface Model Further
information
2048 8192 (13 bits) – EnDat 2.2/01 with 1 VPP ECN 113 Catalog:
Rotary
Encoders– 33 554 432 (25 bits) EnDat 2.2/22 ECN 125
1000 to 5000 – TTL/ 1 VPP ERN 120/ERN 180
HTL ERN 130
512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 1 VPP ECN 413/EQN 425
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 425/EQN 437
512 8192 (13 bits) SSI ECN 413/EQN 425
250 to 5000 – TTL ERN 420
HTL ERN 430
TTL ERN 460
1000 to 5000 1 VPP ERN 480
256 to 2048 8192 (13 bits) –/4096 EnDat H HTLSSI 41H HTL
EQN 425 Catalog:
Rotary
Encoders512 to 4096 EnDat T TTL
SSI 41T TTL
– i: 33 554 432 (25 bits)
4096 Fanuc05 ECN 425 F/EQN 437 F
33 554 432 (25 bits)/8 388 608 (23 bits)
Mit03-4 ECN 425 M/EQN 435 M
16 777 216 (24 bits) DQ01 ECN 424 S/EQN 436 S
2048 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ECN 413/EQN 425 Page 64
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 4251)
/EQN 4371)
1024 to 5000 – TTL ERN 421 Product
Information2048 Z1 track for sine commutation ERN 487
12
Series Overall dimensions Mechanically
permissible
speed
Natural freq. of
stator
connection
Maximum
operating
temperature
Voltage supply
Rotary encoders with integral bearing and mounted stator coupling
ECN/EQN/ERN 1000 12 000 rpm 1500 Hz 100 °C DC 3.6 V to 14 V
DC 4.75 V to 30 V
DC 3.6 V to 14 V
DC 5 V ± 0.5 V
70 °C DC 10 V to 30 V
DC 5 V ± 0.25 V
6000 rpm 1600 Hz 90 °C DC 5 V ± 0.5 V
Rotary encoders with integral bearing and torque supports for Siemens drives
EQN/ERN 400 6000 rpm – 100 °C DC 3.6 V to 14 V
DC 10 V to 30 V
DC 5 V ± 0.5 V
DC 10 V to 30 V
ERN 401 6000 rpm – 100 °C DC 5 V ± 0.5 V
DC 10 V to 30 V
1) After internal 5/10/20/25-fold interpolation
Rotary encoders for mounting on motorsProtection: up to IP64 (EN 60 529)
ERN 1023
13
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Interface Model Further
information
512 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ECN 1013/EQN 1025 Catalog:
Rotary
EncodersSSI
– 8 388 608 (23 bits) EnDat 2.2/22 ECN 1023/EQN 1035
100 to 3600 – TTL/ 1 VPP ERN 1020/ERN 1080
HTLs ERN 1030
5000 to 36 0001) TTL ERN 1070
500 to 8192 3 block commutation signals TTL ERN 1023 Page 56
2048 8192 (13 bits) 4096 EnDat 2.1/01 with 1 VPP EQN 425 Page 68
SSI
1024 – TTL ERN 420
HTL ERN 430
1024 TTL ERN 421 Page 70
HTL ERN 431
14
Rotary encoders for mounting on motorsProtection: up to IP64 (EN 60 529)
Series Overall dimensions Mechanically
permissible
speed
Natural freq. of
stator
connection
Maximum
operating
temperature
Voltage supply
Rotary encoders with integral bearing for separate shaft coupling
ROC/ROQ/ROD 400
RIC/RIQ
12 000 rpm – 100 °C DC 3.6 V to 14 V
DC 5 V
DC 4.75 V to 30 V
DC 10 V to 30 V
DC 4.75 V to 30 V
DC 3.6 V to 14 V
DC 10 V to 28.8 V
DC 5 V ± 0.5 V
DC 10 V to 30 V
70 °C
100 °C DC 5 V ± 0.5 V
ROC/ROQ/ROD 1000 12 000 rpm – 100 °C DC 3.6 V to 14 V
DC 4.75 V to 30 V
DC 3.6 V to 14 V
DC 5 V ± 0.5 V
70 °C DC 10 V to 30 V
DC 5 V ± 0.25 V
ROD 600 12 000 rpm – 80 °C DC 5 V ± 0.5 V
ROD 1900 4000 rpm – 70 °C DC 10 V to 30 V
1) Functional safety on request
2) After integral 5/10-fold interpolation3) Only clamping fl ange
Synchro fl ange
Clamping fl ange
150 18
199
160
15
15
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Interface Model Further
information
512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ROC 413/ROQ 425 Catalog:
Rotary
Encoders– 33 554 432 (25 bits) EnDat 2.2/22 ROC 4251)
/ROQ 4371)
16 262 144 (18 bits) EnDat 2.1/01 RIC 418/RIQ 430
512 8192 (13 bits) SSI ROC 413/ROQ 425
256 to 2048 8192 (13 bits) –/4096 EnDat H HTLSSI 41H HTL
ROQ 4253)
512 to 4096 EnDat T TTLSSI 41T TTL
– i: 33 554 432 (25 bits)
4096 Fanuc05 ROC 425 F/ROQ 437 F
33 554 432 (25 bits)/8 388 608 (23 bits)
Mit03-4 ROC 425 M/ROQ 435 M
16 777 216 (24 bits) DQ01 ROC 424 S/EQN 436 S
50 to 10 0002) – – TTL ROD 426/ROD 420
50 to 5000 HTL ROD 436/ROD 430
50 to 10 0002) TTL ROD 466
1000 to 5000 1 VPP ROD 486/ROD 480
512 8192 (13 bits) –/4096 EnDat 2.2/01 with 1 VPP ROC 1013/ROQ 1025 Catalog:
Rotary
EncodersSSI
– 8 388 608 (23 bits) EnDat 2.2/22 ROC 1023/ROQ 1035
100 to 3600 – TTL ROD 1020
1 VPP ROD 1080
HTLs ROD 1030
5000 to 36 0002) TTL ROD 1070
512 to 5000 – TTL ROD 620
HTL ROD 630
600 to 2400 – HTL/HTLs ROD 1930
16
Series Overall dimensions Diameter Mechanically
permissible
speed
Natural freq. of
stator
connection
Maximum
operating
temperature
Angle encoders with integral bearing and integrated stator coupling
RCN 2000 – 1500 rpm 1000 Hz RCN 23xx: 60 °CRCN 25xx: 50 °C
RCN 5000 – 1500 rpm 1000 Hz RCN 53xx: 60 °CRCN 55xx: 50 °C
RCN 8000 D: 60 mmand 100 mm
500 rpm 900 Hz 50 °C
Modular angle encoders with optical scanning
ERA 4000
Steel scale drum D1: 40 mm to 512 mm
D2: 76.75 mm to 560.46 mm
10 000 rpm to 1500 rpm
– 80 °C
ERA 7000
For inside diameter mounting
D: 458.62 mm to 1146.10 mm
250 rpm to 220 rpm
– 80 °C
ERA 8000
For outside diameter mounting
D: 458.11 mm to 1145.73 mm
50 rpm to 45 rpm
– 80 °C
Modular angle encoders with magnetic graduation
ERM 2200
Signal period of approx. 200 µmERM 2400
Signal period of approx. 400 µm
D1: 40 mm to 410 mmD2: 75.44 mm to
452.64 mm
19 000 rpm to 3000 rpm
– 100 °C
ERM 2400
Signal period of approx. 400 µm
D1: 40 mm to 100 mmD2: 64.37 mm to
128.75 mm
42 000 rpm to 20 000 rpm
– 100 °C
ERM 2900
Signal period of approx. 1000 µm
D1: 40 mm to 100 mmD2: 58.06 mm to
120.96 mm
35 000 rpm/ 16 000 rpm
1) Interfaces for Fanuc and Mitsubishi controls upon request 2) Segment solutions upon request
Rotary encoders and angle encoders for integrated and hollow-shaft motors
17
Voltage supply System
accuracy
Signal periods
per revolution
Positions per
revolution
Interface1)
Model Further
information
DC 3.6 V to 14 V ±5“±2.5”
16 384 67 108 864 (26 bits)268 435 456 (28 bits)
EnDat 2.2/02 with 1 VPP
RCN 2380
RCN 2580
Catalog:
Angle
Encoders
With Integral Bearing
±5“±2.5”
– 67 108 864 (26 bits)268 435 456 (28 bits)
EnDat 2.2/22 RCN 23103)
RCN 25103)
DC 3.6 V to 14 V ±5“±2.5”
16 384 67 108 864 (26 bits)268 435 456 (28 bits)
EnDat 2.2/02 with 1 VPP
RCN 5380
RCN 5580
±5“±2.5”
– 67 108 864 (26 bits)268 435 456 (28 bits)
EnDat 2.2/22 RCN 53103)
RCN 55103)
DC 3.6 V to 14 V ± 2”± 1”
32 768 536 870 912 (29 bits) EnDat 2.2/02 with 1 VPP
RCN 8380
RCN 8580
± 2”± 1”
– EnDat 2.2 / 22 RCN 83103)
RCN 85103)
DC 5 V ± 0.5 V – 12 000 to 52 000 – 1 VPP ERA 4280 C Catalog:
Angle
Encoders
Without Integral Bearing
6000 to 44 000 ERA 4480 C
3000 to 13 000 ERA 4880 C
DC 5 V ± 0.25 V – Full circle2)
36 000 to 90 000
– 1 VPP ERA 7480 C
DC 5 V ± 0.25 V – Full circle2)
36 000 to 90 000
– 1 VPP ERA 8480 C
DC 5 V ± 0.5 V – 600 to 3600 – TTL ERM 2420 Catalog
Modular
Angle
Encoders
With Magnetic Scanning
1 VPP ERM 2280
ERM 2480
DC 5 V ± 0.5 V – 512 to 1024 – 1 VPP ERM 2484
256/400 – ERM 2984
3) Functional safety on request
18
Series Overall dimensions Traversing speed Acceleration
in measuring directionAccuracy grade
LIP 400 30 m/min 200 m/s2 To ±0.5 µm
LIF 400 72 m/min 200 m/s2 ± 3 µm
LIC 2100
Absolute linear encoder
600 m/min 200 m/s2 ± 15 µm
LIC 4100
Absolute linear encoder
600 m/min 500 m/s2 ±5 µm
±5 µm1)
LIDA 400 480 m/min 200 m/s2 ±5 µm
±5 µm1)
LIDA 200 600 m/min 200 m/s2 ± 30 µm
PP 200
Two-coordinate encoder
72 m/min 200 m/s2 ± 2 µm
1) After linear error compensation
Exposed linear encoders for linear drives
19
Measuring lengths Voltage supply Signal
period
Cutoff frequency
–3 dB
Switching
output
Interface Model Further
information
70 mm to 420 mm DC 5 V ± 0.25 V 2 µm 250 kHz – 1 VPP LIP 481 Catalog:
Exposed
Linear
Encoders
70 mm to 1020 mm DC 5 V ± 0.25 V 4 µm 300 kHz Homing trackLimit switches
1 VPP LIF 481
120 mm to 3020 mm DC 3.6 V to 14 V – – – EnDat 2.2/22Resolution 0.05 µm
LIC 2107
140 mm to 27 040 mm
DC 3.6 V to 14 V – – – EnDat 2.2/22Resolution 0.001 µm
LIC 4115
140 mm to 6040 mm LIC 4117
140 mm to 30 040 mm
DC 5 V ± 0.25 V 20 µm 400 kHz Limit switches 1 VPP LIDA 485
240 mm to 6040 mm LIDA 487
Up to 10 000 mm DC 5 V ± 0.25 V 200 µm 50 kHz – 1 VPP LIDA 287
Measuring range 68 mm x 68 mm
DC 5 V ± 0.25 V 4 µm 300 kHz – 1 VPP PP 281
20
Series Overall dimensions Traversing
speed
Acceleration
in measuring direction
Natural
frequency of
coupling
Measuring
lengths
Linear encoders with slimline scale housing
LF 60 m/min 100 m/s2 2000 Hz 50 mm to1220 mm
LC
Absolute linear encoder
180 m/min 100 m/s2 2000 Hz 70 mm to 2040 mm3)
Linear encoders with full-size scale housing
LF 60 m/min 100 m/s2 2000 Hz 140 mm to3040 mm
LC
Absolute linear encoder
180 m/min 100 m/s2 2000Hz 140 mm to4240 mm
140 mm to3040 mm
140 mm to4240 mm
140 mm to3040 mm
120 m/min(180 m/min upon request)
100 m/s2 780 Hz 3240 mm to28 040 mm
LB 120 m/min(180 m/min upon request)
60 m/s2 650 Hz 440 mm to 30 040 mm (up to 72 040 mm upon request)
1) After installation according to mounting instructions2) Interfaces for Siemens, Fanuc and Mitsubishi controls upon request3) Measuring lengths from 1340 mm only with spar or clamping elements4)
Functional safety on request
Sealed linear encoders for linear drivesProtection: IP53 to IP64
1) (EN 60 529)
21
Accuracy
grade
Voltage supply Signal period Cutoff frequency
–3 dB
Resolution Interface2)
Model Further
information
±5 µm DC 5 V ± 0.25 V 4 µm 250 kHz – 1 VPP LF 485 Catalog:
Linear
Encoders For Numerically Controlled Machine Tools±5 µm DC 3.6 V to 14 V – – To 0.01 µm EnDat 2.2/22 LC 415
4)
± 3 µm To 0.001 µm
±5 µm 20 µm 150 kHz To 0.01 µm EnDat 2.2/02 LC 485
± 3 µm To 0.05 µm
±2 µm; ± 3 µm
DC 5 V ± 0.25 V 4 µm 250 kHz – 1 VPP LF 185 Catalog:
Linear
Encoders For Numerically Controlled Machine Tools±5 µm DC 3.6 V to 14 V – – To 0.01 µm EnDat 2.2/22 LC 115
4)
± 3 µm To 0.001 µm
±5 µm 20 µm 150 kHz To 0.01 µm EnDat 2.2/02 LC 185
± 3 µm To 0.05 µm
±5 µm DC 3.6 V to 14 V – – To 0.01 µm EnDat 2.2/22 LC 211
40 µm 250 kHz EnDat 2.2/02 with 1 VPP
LC 281
To ±5 µm DC 5 V ± 0.25 V 40 µm 250 kHz – 1 VPP LB 382
22
Rotary encoders and angle encoders for
three-phase AC and DC motors
General information
Speed stability
To ensure smooth drive performance, an encoder must provide a large number of
measuring steps per revolution. The encoders in the HEIDENHAIN product program are therefore designed to supply the necessary numbers of signal periods per revolution to meet the speed stability requirement.
HEIDENHAIN rotary encoders angle encoders featuring integral bearings and stator couplings provide very good performance: shaft misalignment within certain tolerances (see Specifi cations) does not cause any position error or impair speed stability.
At low speeds, the encoder’s position
error within one signal period affects speed stability. In encoders with purely serial data transmission, the LSB (Least Signifi cant Bit) goes into the speed stability (see also Measuring accuracy).
Transmission of measuring signals
To ensure the best possible dynamic performance with digitally controlled motors, the sampling time of the speed controller should not exceed approx. 256 µs. The feedback values for the position and speed controller must therefore be available in the controlling system with the least possible delay.
High clock frequencies are needed to fulfi ll such demanding time requirements on position-value transfer from the encoder to the controlling system with serial data transmission (see also Interfaces; Absolute Position Values). HEIDENHAIN encoders for servo drives therefore provide the position values via the fast, purely serial
EnDat 2.2 interface, or transmit additional incremental signals that are available without delay for use in the subsequent electronics for speed and position control.
For standard drives, manufacturers primarily use the especially robust HEIDENHAIN ECI/EQI encoders without integral bearing or rotary encoders with TTL or HTL compatible output signals—as well as additional commutation signals for permanent-magnet DC drives.
For digital speed control on machines with high requirements for dynamics, a large number of measuring steps is required—usually above 500 000 per revolution. For applications with standard drives, as with resolvers, approx. 60 000 measuring steps per revolution are suffi cient.
HEIDENHAIN encoders for drives with digital position and speed control are therefore equipped with the purely serial
EnDat22 interface, or they additionally provide sinusoidal incremental signals with signal periods of 1 VPP (EnDat01).
The high internal resolution of the EnDat22 encoders permits resolutions up to 19 bits (524 288 measuring steps) in inductive systems and at least 23 bits (approx. 8 million measuring steps) in photoelectric encoders.
Thanks to their high signal quality, the sinusoidal incremental signals of the EnDat01 encoders can be highly subdivided in the subsequent electronics (see Figure 1). Even at shaft speeds of 12 000 rpm, the signal arrives at the input circuit of the controlling system with a frequency of only approx. 400 kHz (see Figure 2). 1 VPP incremental signals allow cable lengths up to 150 m (see also Incremental signals – 1 VPP).
Figure 1:
Signal periods per revolution and the resulting number of measuring steps per revolution as a function of the subdivision factor
Subdivision factor
Signal periods per revolution
Measu
rin
g s
tep
s p
er
revo
luti
on
23
Figure 2:
Shaft speed and resulting output frequency as a function of the number of signal periods per revolution
Shaft speed in rpm
Signal periods per revolution
Ou
tpu
t fr
eq
uen
cy in
kH
z
HEIDENHAIN absolute encoders for “digital” drives also supply additional sinusoidal incremental signals with the same characteristics as those described above. Absolute encoders from HEIDENHAIN use the EnDat interface (for Encoder Data) for the serial data
transmission of absolute position values and other information for automatic self-
confi guration, monitoring and
diagnosis. (See Absolute position values – EnDat.) This makes it possible to use the same subsequent electronics and cabling technology for all HEIDENHAIN encoders.
Important encoder specifi cations can be read from the memory of the EnDat encoder for automatic self-confi guration, and motor-specifi c parameters can be saved in the OEM memory area of the encoder. The usable size of the OEM memory in the rotary encoders in the current catalogs is at least 1.4 KB ( 704 EnDat words).
Most absolute encoders themselves already subdivide the sinusoidal scanning signals by a factor of 4096 or greater. If the transmission of absolute positions is fast enough (for example, EnDat 2.1 with 2 MHz or EnDat 2.2 with 16 MHz clock frequency), these systems can do without incremental signal evaluation.
Benefi ts of this data transmission technology include greater noise immunity of the transmission path and less expensive connectors and cables. Rotary encoders with EnDat 2.2 interface offer the additional feature of being able to evaluate an external temperature sensor, located in the motor coil, for example. The digitized temperature values are transmitted as part of the EnDat 2.2 protocol without an additional line.
Bandwidth
The attainable gain for the position and speed control loops, and therefore the bandwidth of the drives for command response and control reliability, are sometimes limited by the rigidity of the coupling between the motor shaft and encoder shaft as well as by the natural frequency of the stator coupling. HEIDENHAIN therefore offers rotary and angular encoders for high-rigidity shaft coupling.
The stator couplings mounted on the encoders have high natural frequencies
greater than 1800 Hz. For the modular and inductive rotary encoders, the stator and rotor are fi rmly screwed to the motor housing and to the shaft (see also Mechanical design types and mounting).
Pro
pert
ies a
nd
mo
un
tin
g
Motor currents
Motors are sometimes subjected to impermissible current from the rotor to the stator. This can result in overheating in the encoder bearing and reduce its service life. HEIDENHAIN therefore recommends encoders without integral bearings or with insulating bearings (hybrid bearings). For more information, please contact HEIDENHAIN.
Fault exclusion for mechanical coupling
HEIDENHAIN encoders designed for functional safety can be mounted so that the rotor or stator fastening does not accidentally loosen.
Size
A higher permissible operating temperature permits a smaller motor size for a specifi c rated torque. Since the temperature of the motor also affects the temperature of the encoder, HEIDENHAIN offers encoders for permissible operating
temperatures up to 120 °C. These encoders make it possible to design machines with smaller motors.
Power loss and noise emission
The power loss of the motor, the accompanying heat generation, and the acoustic noise of motor operation are infl uenced by the position error of the encoder within one signal period. For this reason, rotary encoders with a high signal quality of better than ±1 % of the signal period are preferred (see also Measuring accuracy).
Bit error rate
For rotary encoders with purely serial interface for integration in motors, HEIDENHAIN recommends conducting a type test for the bit error rate.
When using functionally safe encoders without closed metal housings and/or with cable assemblies that do not comply with the electrical connection directives (see General electrical information) it is always necessary to measure the bit error rate in a type test under application conditions.
24
HMC 6
Single-cable solution for servo drives
Motors normally need two separate cables:• One cable for the motor encoder• One cable for the motor power supply
With its Hybrid Motor Cable HMC 6, HEIDENHAIN has integrated the encoder lines in the power cable. So now only one
cable is needed between the motor and electrical cabinet.
The HMC 6 single-cable solution has been specially conceived for the HEIDENHAIN EnDat22 interface with purely serial transmission over cable lengths up to 100 m. However, all other encoders with purely serial RS-485 interface can also be connected. This makes a broad range of encoders available without having to introduce a new interface.
The HMC 6 integrates the lines for encoders, motors and brakes in only one cable. It is connected to the motor via a special connector. For connection to the inverter, the cable is split into power connections and an encoder connector. This makes it compatible on the control side with all the same components as conventional cables.
If the components are correctly mounted, the connections will have the IP67 degree of protection. Vibration protection against loosening of coupling joints is integrated in the connector, as also is the quick-release lock.
Advantages
The HMC 6 single-cable solution offers a series of cost and quality improvements both for the motor manufacturer and the machine tool builder:• No need to replace existing interfaces• Allows smaller drag chains• A smaller number of cables signifi cantly
improves drag chain fl exibility• A wide range of encoders is available for
HMC 6 transmission
• There is no assignment of cable contacts in the machine
• Reduces mechanical requirements (fl ange socket on the motor, cable ducts in the machine housing)
• Lower shipping and storage costs for cables and connectors
• Installation is simpler and faster• Lower cost of documentation
• Fewer service components are required• The contour including the cable is
smaller, making it easier to integrate the motor in the machine housing
• The combination of power cable and encoder cable has been tested by HEIDENHAIN
Encoder connections (communication element)
Connections for the brake
Connections for the motor
25
Components
You only need a few components to make your motor ready for the single-cable solution.
Connecting element on the motor
The motor housing must be equipped with a special right-angle fl ange socket, in which the contacts for the encoder, the motor power and the brake are included.
Crimp tools for the power lines
The crimp contacts for power and brake wires are added using the usual tools. Cables inside the motor housing
The rotary encoder is connected through the output cable inside the motor: your ready-wired communication element is simply latched to the angle fl ange socket.
Cable with hybrid connector
Besides the wires to the encoder, the HMC connecting cable with the motor also includes those for the motor power and brake. It is wired at one end with a hybrid connector
The universal design of the HMC 6 provides you—as motor manufacturer or machine tool builder—with the greatest possible fl exibility, because you can use standard components—both on the motor and the control side.
A particular advantage: all HEIDENHAIN
encoders with EnDat22 interface or with purely serial data transfer without battery buffering as per RS-485 are suited for the HMC 6 single-cable solution. They include motor encoders for servo drives in their various sizes, as well as linear and angle encoders used in direct drives. And of course it also includes encoders for functional safety up to SIL 3.
But there is no need for acrobatics on the control side either: you can use the same inverter systems or controller units as before. The HMC 6 cable has been designed to be easy for you to wire it to the proper connector systems. And most importantly: there is no reduction in noise immunity.
HMC 6 fl ange socket
HMC 6 connector
Output cable of the encoder within the motor
Encoder
Power leads
Brake wires
Encoder wires
Brake wires
Power leads
Subsequent electronics
Temperature
For more information on the HMC 6 in the HMC 6, see the Product Information document.
26
Linear encoders for linear drives
General information
Selection criteria for linear encoders
HEIDENHAIN recommends the use of exposed linear encoders whenever the severity of contamination inherent in a particular machine environment does not preclude the use of optical measuring systems, and if relatively high accuracy is desired, e.g. for high-precision machine tools and measuring equipment, or for production, testing and inspecting equipment in the semiconductor industry.
Particularly for applications on machine tools that release coolants and lubricants, HEIDENHAIN recommends sealed linear
encoders. Here the requirements on the mounting surface and on machine guideway accuracy are less stringent than for exposed linear encoders, and therefore installation is faster.
Speed stability
To ensure smooth-running servo performance, the linear encoder must permit a resolution commensurate with the given speed control range:• On handling equipment, resolutions in
the range of several microns are suffi cient
• Feed drives for machine tools need resolutions of 0.1 µm and fi ner
• Production equipment in the semiconductor industry requires resolutions of a few nanometers
At low traversing speeds, the position
error within one signal period has a decisive infl uence on the speed stability of linear motors (see also Measuring accuracy).
Traversing speeds
Exposed linear encoders function without contact between the scanning head and the scale. The maximum permissible traversing speed is limited only by the cutoff frequency (–3 dB) of the output signals.
On sealed linear encoders, the scanning unit is guided along the scale on a ball bearing. Sealing lips protect the scale and scanning unit from contamination. The ball bearing and sealing lips permit mechanical traversing speeds up to 180 m/min.
Signal period and resulting measuring step as a function of the subdivision factor
Subdivision factor
Signal period in µm
Measu
rin
g s
tep
in
µm
27
Transmission of measuring signals
The information given for rotary and angle encoder signal transmission essentially applies also to linear encoders. If, for example, one wishes to traverse at a minimum velocity of 0.01 m/min with a sampling time of 250 µs, and if one assumes that the measuring step should change by at least one measuring step per sampling cycle, then one needs a measuring step of approx. 0.04 µm. To avoid the need for special measures in the subsequent electronics, input frequencies should be limited to less than 1 MHz. Linear encoders with sinusoidal output
signals or absolute position values according to EnDat 2.2 are best suited for high traversing speeds and small measuring steps. Sinusoidal signals with levels of 1 VPP in particular permit a –3 dB cutoff frequency of approx. 200 kHz and more at permissible cable lengths up to 150 m.
The fi gure below illustrates the relationship between output frequency, traversing speeds, and signal periods of linear encoders. Even at a signal period of 4 µm and traversing speeds up to 70 m/min, frequencies of only 300 kHz are attained.
Bandwidth
On linear motors, a coupling lacking in rigidity can limit the bandwidth of the position control loop. The manner in which the linear encoder is mounted on the machine has a very signifi cant infl uence on the rigidity of the coupling (see Design types and mounting).
On sealed linear encoders, the scanning unit is guided along the scale. A coupling connects the scanning carriage with the mounting block and compensates the misalignment between the scale and the machine guideways. This permits relatively large mounting tolerances. The coupling is very rigid in the measuring direction and is fl exible in the perpendicular direction. If the coupling is insuffi ciently rigid in the measuring direction, it could cause low natural frequencies in the position and velocity control loops and thus limit the bandwidth of the drive.
The sealed linear encoders recommended by HEIDENHAIN for linear motors generally have a natural frequency of coupling
greater than 650 Hz or 2 kHz in the
measuring direction, which in most applications exceeds the mechanical natural frequency of the machine and the bandwidth of the velocity control loop by factors of at least fi ve to ten. HEIDENHAIN linear encoders for linear motors therefore have practically no limiting effect on the position and speed control loops.
Traversing speed and resulting output frequency as a function of the signal period
Signal period
Traversing speed in m/min
Ou
tpu
t fr
eq
uen
cy in
kH
z
For more information on linear encoders for linear drives, refer to our catalogs Exposed Linear Encoders and Linear Encoders For Numerically Controlled Machine Tools.
28
The term functional safety designates HEIDENHAIN encoders that can be used in safety-related applications. These encoders operate as single-encoder systems with purely serial data transmission via EnDat 2.2 or DRIVE-CLiQ. Reliable transmission of the position is based on two independently generated absolute position values and on error bits, which are then provided to the safe control.
Basic principle
HEIDENHAIN measuring systems for safety-related applications are tested for compliance with EN ISO 13 849-1 (successor to EN 954-1) as well as EN 61 508 and EN 61 800-5-2. These standards describe the assessment of safety-oriented systems, for example based on the failure probabilities of integrated components and subsystems. This modular approach helps manufacturers of safety-oriented systems to implement their complete systems, because they can begin with subsystems that have already been qualifi ed. Safety-related position measuring systems with purely serial data transmission via EnDat 2.2 or DRIVE-CLiQ accommodate this technique. In a safe drive, the safety-related position measuring system is such a subsystem. The safety-related position
measuring system, e.g. with EnDat 2.2, consists of:• Encoder with EnDat 2.2 transmission
component• Data transfer line with EnDat 2.2
communication and HEIDENHAIN cable• EnDat 2.2 receiver component with
monitoring function (EnDat master)
In practice, the complete “safe servo
drive” system, e.g. for EnDat 2.2 consists of:• Safety-related position measuring
system• Safety-related control (including EnDat
master with monitoring functions)• Power stage with motor power cable
and drive• Mechanical connection between
encoder and drive (e.g. rotor/stator connection)
SS1 Safe Stop 1 Safe stop 1
SS2 Safe Stop 2 Safe stop 2
SOS Safe Operating Stop Safe operating stop
SLA Safely Limited Acceleration Safely limited acceleration
SAR Safe Acceleration Range Safe acceleration range
SLS Safely Limited Speed Safely limited speed
SSR Safe Speed Range Safe speed range
SLP Safely Limited Position Safely limited position
SLI Safely Limited Increment Safely limited increment
SDI Safe Direction Safe direction
SSM Safe Speed Monitor Safe report of the limited speed
Safety functions according to EN 61 800-5-2
Complete safe-servo-drive system with EnDat 2.2
Safety-related position measuring system
Encoder
Power cables
Drive motor
Power stage
EnDat master
Safe control
Safety-related position measuring systems
Field of application
Safety-related position measuring systems from HEIDENHAIN are designed so that they can be used as single-encoder systems in applications with control category SIL 2 (according to EN 61 508), performance level “d”, category 3 (according to EN ISO 13 849).
Additional measures in the control make it possible to use certain encoders for applications up to SIL 3, PL “e”, category 4. The suitability of these encoders is indicated appropriately in the documentation (catalogs/product information documents).
The functions of the safety-related position measuring system can be used for the following safety tasks in the complete system (also see EN 61 800-5-2):
DRIVE-CLiQ is a registered trademarkof SIEMENS AG.
29Safety-related position encoder with EnDat 2.2
Measured-value
acquisition
Data transmission line
Position values and error bits via two processor interfaces
Monitoring functions
Effi ciency test
Reception of measured values
Position 1
Position 2
(protocol and cables)
Serial data transferTwo independent position values.
Internal monitoring.
Protocol formation.
EnD
at in
terf
ace
EnDat master
Interface 1
Interface 2
Safe control
Catalog of measures For more information on the topic of functional safety, refer to the technical information documents Safety-Related Position Measuring Systems and Safety-Related Control Technology as well as the product information document of the functional safety encoders.
Function
The safety strategy of the position measuring system is based on two mutually independent position values and additional error bits produced in the encoder and, e.g. for EnDat 2.2, transmitted over the EnDat 2.2 protocol to the EnDat master. The EnDat master assumes various monitoring functions with which errors in the encoder and during transmission can be revealed. For example, the two position values are compared. The EnDat master then makes the data available to the safe control. The control periodically tests the safety-related position measuring system to monitor its correct operation.
The architecture of the EnDat 2.2 protocol makes it possible to process all safety-relevant information and control mechanisms during unconstrained controller operation. This is possible because the safety-relevant information is saved in the additional information. According to EN 61 508, the architecture of the position measuring system is regarded as a single-channel tested system.
Documentation on the integration of
the position measuring system
The intended use of position measuring systems places demands on the control, the machine designer, the installation technician, service, etc. The necessary information is provided in the documentation for the position measuring systems.
In order to be able to implement a position measuring system in a safety-related application, a suitable control is required. The control assumes the fundamental task of communicating with the encoder and safely evaluating the encoder data.
The requirements for integrating the EnDat master with monitoring functions into the safe control are described in the HEIDENHAIN document 533095. It contains, for example, specifi cations on the evaluation and processing of position values and error bits, and on electrical connection and cyclic tests of position measuring systems.
Document 1000344 describes additional measures that make it possible to use suitable encoders for applications up to SIL 3, PL “e”, category 4.
Machine and plant manufacturers need not attend to these details. These functions must be provided by the control. Product information sheets, catalogs and mounting instructions provide information to aid the selection of a suitable encoder. The product information sheets and catalogs contain general data on function and application of the encoders as well as specifi cations and permissible ambient conditions. The mounting instructions
provide detailed information on installing the encoders.
The architecture of the safety system and the diagnostic possibilities of the control may call for further requirements. For
example, the operating instructions of
the control must explicitly state
whether fault exclusion is required for
the loosening of the mechanical
connection between the encoder and
the drive. The machine designer is obliged to inform the installation technician and service technicians, for example, of the resulting requirements.
30
Measuring principles
Measuring standard
HEIDENHAIN encoders with optical scanning incorporate measuring standards of periodic structures known as graduations. These graduations are applied to a carrier substrate of glass or steel. The scale substrate for large diameters is a steel tape.
HEIDENHAIN manufactures the precision graduations in specially developed, photolithographic processes.• AURODUR: matte-etched lines on gold-
plated steel tape with typical graduation period of 40 µm
• METALLUR: contamination-tolerant graduation of metal lines on gold, with typical graduation period of 20 µm
• DIADUR: extremely robust chromium lines on glass (typical graduation period of 20 µm) or three-dimensional chromium structures (typical graduation period of 8 µm) on glass
• SUPRADUR phase grating: optically three dimensional, planar structure; particularly tolerant to contamination; typical graduation period of 8 µm and fi ner
• OPTODUR phase grating: optically three dimensional, planar structure with particularly high refl ectance, typical graduation period of 2 µm and less
Magnetic encoders use a graduation carrier of magnetizable steel alloy. A graduation consisting of north poles and south poles is formed with a grating period of 400 µm. Due to the short distance of effect of electromagnetic interaction, and the very narrow scanning gaps required, finer magnetic graduations are not practical.
Encoders using the inductive scanning principle work with graduation structures of copper and nickel. The graduation is applied to a carrier material for printed circuits.
With the absolute measuring method, the position value is available from the encoder immediately upon switch-on and can be called at any time by the subsequent electronics. There is no need to move the axes to fi nd the reference position. The absolute position information is read from the grating on the circular
scale, which is designed as a serial code structure or consists of several parallel graduation tracks.
A separate incremental track or the track with the fi nest grating period is interpolated for the position value and at the same time is used to generate an optional incremental signal.
Singleturn rotary encoders repeat the absolute position information with each revolution. Multiturn encoders can also distinguish between revolutions.
Circular graduations of absolute rotary encoders
With the incremental measuring
method, the graduation consists of a periodic grating structure. The position information is obtained by counting the individual increments (measuring steps) from some point of origin. Since an absolute reference is required to ascertain positions, the circular scales are provided with an additional track that bears a reference mark.
The absolute position established by the reference mark is gated with exactly one measuring step.
The reference mark must therefore be scanned to establish an absolute reference or to fi nd the last selected datum.
Circular graduations of incremental rotary encoders
31
Scanning methods
Photoelectric scanning principle
Most HEIDENHAIN encoders operate using the principle of photoelectric scanning. Photoelectric scanning of a measuring standard is contact-free, and as such, free of wear. This method detects even very fi ne lines, no more than a few micrometers wide, and generates output signals with very small signal periods.
The ERN/ECN/EQN/ERO and ROD/RCN/RQN rotary encoders use the imaging scanning principle.
Put simply, the imaging scanning principle functions by means of projected-light signal generation: two graduations with equal or similar grating periods are moved relative to each other—the scale and the scanning reticle. The carrier material of the scanning reticle is transparent, whereas the graduation on the measuring standard may be applied to a transparent or refl ective surface.
When parallel light passes through a grating, light and dark surfaces are projected at a certain distance. An index grating with the same or similar grating period is located here. When the two graduations move in relation to each other, the incident light is modulated: if the gaps are aligned, light passes through. If the lines of one grating coincide with the gaps of the other, no light passes through. A structured photosensor or photovoltaic cells convert these variations in light intensity into nearly sinusoidal electrical signals. Practical mounting tolerances for encoders with the imaging scanning principle are achieved with grating periods of 10 µm and larger.
Other scanning principles
Some encoders function according to other scanning methods. ERM encoders use a permanently magnetized MAGNODUR graduation that is scanned with magnetoresistive sensors.
ECI/EQI/EBI and RIC/RIQ rotary encoders operate according to the inductive measur-ing principle. Here, moving graduation structures modulate a high-frequency sig-nal in its amplitude and phase. The position value is always formed by sampling the signals of all receiver coils distributed evenly around the circumference. This permits large installation tolerances at high resolution.
Photoelectric scanning according to the imaging scanning principle
LED light source
Condenser lens
The ECN and EQN absolute rotary encoders with optimized scanning have a single large photosensor instead of a group of individual photoelements. Its structures have the same width as that of the measuring standard. This makes it possible to do without the scanning reticle with matching structure.
Circular scale Incremental track
Absolute track
Structured photosensor with scanning reticle
32
Electronic commutation with position encoders
Commutation in permanent-magnet
three-phase motors
Before a permanent-magnet three-phase AC drive starts, the rotor position must be available as an absolute value for electronic commutation. HEIDENHAIN rotary encoders are available with different types of rotor position recognition:
• Absolute rotary encoders in singleturn and multiturn versions provide the absolute position information immediately after switch-on. This makes it immediately possible to derive the exact position of the rotor and use it for electronic commutation.
• Incremental rotary encoders with a second track—the Z1 track—provide one sine and one cosine signal (C and D) for each motor shaft revolution in addition to the incremental signals. For sine commutation, rotary encoders with a Z1 track need only a subdivision unit and a signal multiplexer to provide both the absolute rotor position from the Z1 track with an accuracy of ±5° and the position information for speed and position control from the incremental track (see also Interfaces—Commutation signals).
• Incremental rotary encoders with
block commutation tracks also output three commutation signals U, V and W, which are used to drive the power electronics directly. These encoders are available with various commutation tracks. Typical versions have three signal periods (120° mech.) or four signal periods (90° mech.) per commutation signal and revolution. Independently of these signals, the incremental square-wave signals serve for position and speed control (see also Interfaces – commutation signals).
Commutation of synchronous linear
motors
Like absolute rotary and angular encoders, absolute linear encoders of the LIC and LC series provide the exact position of the moving motor part immediately after switch-on. This makes it possible to start with maximum holding load on vertical axes even at a standstill.
Circular scale with serial code track and incremental track
Circular scale with Z1 track
Circular scale with block commutation tracks
Keep in mind the switch-on behavior of the encoders (see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx).
33
Measuring accuracy
The quantities infl uencing the accuracy of linear encoders are listed in the Linear Encoders For Numerically Controlled Machine Tools and Exposed Linear Encoders catalogs.
The accuracy of angular measurement is mainly determined by• the quality of the graduation,• the quality of the scanning process,• the quality of the signal processing
electronics,• the eccentricity of the graduation to the
bearing,• the error of the bearing,• the coupling to the measured shaft, and• the elasticity of the stator coupling (ERN,
ECN, EQN) or shaft coupling (ROD, ROC, ROQ, RIC, RIQ)
These factors of infl uence are comprised of encoder-specifi c error and application-dependent issues. All individual factors of infl uence must be considered in order to assess the attainable overall accuracy.
Error specifi c to the measuring
deviceThe error that is specifi c to the measuring device is shown for rotary encoders in the specifi cations as the system accuracy.
The extreme values of the total deviations of a position are—referenced to their mean value—within the system accuracy ±a.
The system accuracy refl ects position errors within one revolution as well as those within one signal period and—for rotary encoders with stator coupling—the errors of the shaft coupling.
Position error within one signal period
Position errors within one signal period are considered separately, since they already have an effect even in very small angular motions and in repeated measurements. They especially lead to speed ripples in the speed control loop.
The position error within one signal period ±u results from the quality of the scanning and—for encoders with integrated pulse-shaping or counter electronics—the quality of the signal-processing electronics. For encoders with sinusoidal output signals, however, the errors of the signal processing electronics are determined by the subsequent electronics.
The following individual factors infl uence the result:• The size of the signal period• The homogeneity and period defi nition
of the graduation• The quality of scanning fi lter structures• The characteristics of the sensors• The stability and dynamics of further
processing of the analog signals
These errors are considered when specifying the position error within one signal period. For rotary encoders with integral bearing and sinusoidal output signals it is better than ±1 % of the signal period or better than ±3 % for encoders with square-wave output signals. These signals are suitable for up to 100-fold PLL subdivision.
The position error within one signal period ± u is indicated in the specifi cations of the rotary encoders.
As the result of increased reproducibility of a position, much smaller measuring steps are still useful.
Position errors within one revolution Position error within one signal period
Position
Position error within
one signal period
Po
sit
ion
err
or
Po
sit
ion
err
or
Sig
nal le
vel
Signal period360 °elec.
34
Application-dependent error
Rotary encoders with
photoelectric scanningIn addition to the system accuracy, the mounting and adjustment of the scanning head normally have a signifi cant effect on the accuracy that can be achieved by rotary encoders without integral bearings with photoelectric scanning. Of particular importance are the mounting eccentricity of the graduation and the radial runout of the measured shaft.
Example
ERO 1420 rotary encoder with a mean graduation diameter of 24.85 mm:A radial runout of the measured shaft of 0.02 mm results in a position error within one revolution of ± 330 angular seconds.
To evaluate the accuracy of modular
rotary encoders without integral
bearing (ERO), each of the signifi cant errors must be considered individually.
1. Directional deviations of the
graduation
ERO: The extreme values of the directional deviation with respect to their mean value are shown in the Specifi cations as the graduation accuracy for each model. The graduation accuracy and the position error within a signal period comprise the system accuracy.
2. Errors due to eccentricity of the
graduation to the bearing
Under normal circumstances, the bearing will have a certain amount of radial deviation or geometric error after the disk/hub assembly is mounted. When centering using the centering collar of the hub, please note that, for the encoders listed in this catalog, HEIDENHAIN guarantees an eccentricity of the graduation to the centering collar of under 5 µm. For the modular rotary encoders, this accuracy value presupposes a diameter deviation of zero between the drive shaft and the “master shaft.”
If the centering collar is centered on the bearing, then in a worst-case situation both eccentricity vectors could be added together.
Resultant measurement error for various eccentricity values e as a function of graduation diameter D
Eccentricity e in µm
Measu
rin
g e
rro
r
in a
ng
ula
r seco
nd
s
For rotary encoders with integral
bearing, the specifi ed system accuracy already includes the error of the bearing. For angle encoders with separate shaft
coupling (ROD, ROC, ROQ, RIC, RIQ), the angle error of the coupling must be added (see Mechanical design types and mounting). For angle encoders with stator
coupling (ERN, ECN, EQN), the system accuracy already includes the error of the shaft coupling.
In contrast, for encoders without integral
bearing, the mounting, as well as the adjustment of the scanning head, has a decisive infl uence on the attainable overall accuracy. Of particular importance are the mounting eccentricity of the graduation and the radial runout of the measured shaft. The application-dependent error values for these encoders must be measured and considered individually in order to evaluate the overall accuracy.
35
The following relationship exists between the eccentricity e, the mean graduation diameter D and the measuring error (see illustration below):
= ±412 ·
= Measurement error in ” (angular seconds)
e = Eccentricity of the radial grating to the bearing in µm
D = Mean graduation diameter in mm
Model Mean graduation diameter D
Error per 1 µm of eccentricity
ERO 1420
ERO 1470
ERO 1480
D = 24.85 mm ±16.5”
ERO 1225
ERO 1285
D = 38.5 mm ±10.7”
eD
3. Error due to radial runout of the
bearing
The equation for the measuring error is also valid for radial error of the bearing if the value e is replaced with the eccentricity value, i.e. half of the radial error (half of the displayed value).Bearing compliance to radial shaft loading causes similar errors.
4. Position error within one signal
period u
The scanning units of all HEIDENHAIN encoders are adjusted so that without any further electrical adjustment being necessary while mounting, the maximum position error values within one signal period will not exceed the values listed below.
Model Line count
Position error within one signal period u
TTL 1 VPP
ERO 2048150010241000 512
±19.0”±26.0”±38.0”±40.0”±76.0”
± 6.5”± 8.7”±13.0”±14.0”±25.0”
The values for the position errors within one signal period are already included in the system accuracy. Larger errors can occur if the mounting tolerances are exceeded.
Rotary encoders with inductive
scanningAs with all rotary encoders without integral bearing, the attainable accuracy for those with inductive scanning depends on the mounting and application conditions. The system accuracy is given for 20 °C and low speed. The exploitation of all permissible tolerances for operating temperature, shaft speed, supply voltage, scanning gap and mounting are to be calculated for the typical total error.
Thanks to the circumferential scanning of the inductive rotary encoders, the total error is less than for rotary encoders without integral bearing but with optical scanning. Because the total error cannot be calculated through a simple calculation rule, the values are provided in the following table.
Model System accuracy
Total deviation
ECI 1100
EBI 1100
EQI 1100
EnDat22
±120” ±280”
ECI 1300
EQI 1300
EnDat22
±65” ±120”
ECI 1300
EQI 1300
EnDat01
±180” ±280”
ECI 100
EBI 100
±90” ±180”
Measuring error as a function of the mean graduation diameter D and the eccentricity e
M Center of graduation “True” angle‘ Scanned angle
Scanning unit
ECN/EQN/ERN 1300
ECN/EQN 1100
36
Mechanical design types and mounting
Rotary encoders with integral bearing and stator coupling
ECN/EQN/ERN rotary encoders have integrated bearings and a mounted stator coupling. The encoder shaft is directly connected with the shaft to be measured. During angular acceleration of the shaft, the stator coupling must absorb only that torque resulting from friction in the bearing. ECN/EQN/ERN rotary encoders therefore provide excellent dynamic performance and a high natural frequency.
Benefi ts of the stator coupling:
• No axial mounting tolerances between shaft and stator housing for ExN 1300
• High natural frequency of the coupling• High torsional rigidity of shaft coupling• Low mounting or installation space
requirement• Simple axial mounting
Mounting the ECN/EQN 1100 and
ECN/EQN/ERN 1300
The blind hollow shaft or the taper shaft of the encoder is connected at its end through a central screw with the measured shaft. The encoder is centered on the motor shaft by the hollow shaft or taper shaft. The stator of the ECN/EQN 1100 is connected without a centering collar to a fl at surface with two clamping screws. The stator of the ECN/EQN/ERN 1300 is screwed into a mating hole by an axially tightened screw.
Mounting accessories
ECN 1100: mounting aid
For disengaging the PCB connector, see page 42
ECN/EQN/ECI/EQI 1100: mounting aid
For turning the encoder shaft from the rear so that the positive-locking connection between the encoder and measured shaft can be found easily.ID 821017-03
ERN/ECN/EQN 1300: inspection tool
For inspecting the shaft connection (fault exclusion for rotor coupling)ID 680644-01
HEIDENHAIN recommends inspecting the holding torque of non-positive shaft connections (e.g. tapered shafts, blind hollow shafts).
The inspection tool is screwed into the M10 back-off thread on the rear of the encoder. Due to the low screwing depth it does not touch the shaft-fastening screw. When the motor shaft is locked, the testing torque is applied to the extension by a torque wrench (hexagonal, 6.3 mm width across fl ats). After any nonrecurring settling, there must not be any relative motion between the motor shaft and encoder shaft.
ECN/EQN/ERN 1000
37
Mounting the ECN/EQN/ERN 1000 and
ERN 1x23
The rotary encoder is slid by its hollow shaft onto the measured shaft and fastened by two screws. The stator is mounted without a centering fl ange to a fl at surface with four cap screws or with two cap screws and special washers.The ECN/EQN/ERN 1000 encoders feature a blind hollow shaft; the ERN 1123 features a hollow through shaft.
Accessory for ECN/EQN/ERN 1000
Washer
For increasing the natural frequency fN
when mounting with only two screws.ID 334653-01 (2 pieces)
Mounting the EQN/ERN 400
The EQN/ERN 400 encoders are designed for use on Siemens asynchronous motors. They serve as replacement for existing Siemens rotary encoders.
The rotary encoder is slid by its hollow shaft onto the measured shaft and fastened by the clamping ring. On the stator side, the encoder is fi xed by its torque support to a plane surface.
Mounting the EQN/ERN 401
The ERN 401 encoders are designed for use on Siemens asynchronous motors. They serve as replacement for existing Siemens rotary encoders.
The rotary encoder features a solid shaft with an M8 external thread, centering taper and SW8 width across fl ats. It centers itself during fastening to the motor shaft. The stator coupling is fastened by special clips to the motor’s ventilation grille.
0.05 ACx T1
T2
0.05 A
b
X1, X2
38
Rotary encoders without integral bearing – ECI/EBI/EQI
The ECI/EBI/EQI inductive encoders have no integral bearings. This means that mounting and operating conditions infl uence the functional reserves of the encoder. It is essential to ensure that the specifi ed mating dimensions and tolerances (see Mounting Instructions) are maintained in all operating conditions.
The application analysis must result in values within specifi cation for all possible operating conditions (particularly under maximum load and at minimum and maximum operating temperature) and under consideration of the signal amplitude (inspection of scanning gap and mounting tolerance at room temperature). This applies particularly for the measured• maximum radial runout of the motor
shaft• maximum axial runout of the motor shaft
with respect to the mounting surface• maximum and minimum scanning gap
(a), also in combination with e.g.: – the length relation between motor
shaft and motor housing under the infl uence of temperature (T1; T2; 1; 2) depending on the position of the fi xed bearing (b)
– the bearing play (CX) – nondynamic shaft offsets due to load
(X1) – the effect of engaging motor brakes
(X2)
The ECI/EBI 100 rotary encoders are prealigned on a fl at surface and then the locked hollow shaft is slid onto the measured shaft. The encoder is fastened and the shaft clamped by axial screws.
The ECI/EBI/EQI 1100 inductive rotary encoders are mounted as far as possible in axial direction. The blind hollow shaft is attached with a central screw. The stator of the encoder is clamped against a shoulder by two axial screws.
Mounting the ECI 119
Mounting the ECI/EQI 1100
Schematic representation of ECI/EBI 100
Scanning gap a = 0.65±0.3 mm
Mounting accessory
Mounting aid for removing the PCB connector, see page 42.
39
Permissible scanning gap
The scanning gap between the rotor and stator is predetermined by the mounting situation. Later adjustment is possible only by inserting shim rings.
The maximum permitted deviation indicated in the mating dimensions applies to mounting as well as to operation. Tolerances used during mounting are therefore not available for axial motion of the shaft during operation.
Once the encoder has been mounted, the actual scanning gap between the rotor and stator can be measured indirectly via the signal amplitude in the rotary encoder, using the PWM 20 adjusting and testing package. The characteristic curves show the correlation between the signal amplitude and the deviation from the ideal scanning gap, depending on various ambient conditions.
The example for the ECI/EBI 1100 shows the resulting deviation from the ideal scanning gap for a signal amplitude of 80 % at ideal conditions. Due to tolerances within the rotary encoder, the deviation is between +0.03 mm and +0.2 mm. This means that the maximum permissible motion of the drive shaft during operation is between –0.33 mm and +0.1 mm (green arrows).
Am
plitu
de in
%
Am
plitu
de in
%
Am
plitu
de in
%
Deviation from the ideal scanning gap in mm
Deviation from the ideal scanning gap in mm
Deviation from the ideal scanning gap in mm
Tolerance at the time of shipping including infl uence of the voltage supply
Temperature infl uence at max./min. operating temperature
Tolerance at the time of shipping including infl uence of the voltage supply
Temperature infl uence at max./min. Operating temperature
Tolerance at the time of shipping including infl uence of the voltage supply
Temperature infl uence at max./min. Operating temperature
ECI/EBI 1100 with EnDat 2.2
ECI/EBI 100
ECI/EQI 1300
40
The ECI/EQI 1300 inductive rotary encoders with EnDat01 are mechanically compatible with the ExN 1300 photoelectric encoders. The taper shaft (a bottomed hollow shaft is available as an alternative) is fastened with a central screw. The stator of the encoder is clamped by an axially tightened bolt in the location hole. The scanning gap between rotor and stator must be set during mounting.
The ECI/EQI 1300 inductive rotary encoders with EnDat22 are mounted as far as possible in axial direction. The blind hollow shaft is attached with a central screw. The stator of the encoder is clamped against a shoulder by three axial screws.
Mounting the ECI/EQI 1300 EnDat01
Mounting the ECI/EQI 1300 EnDat22
Mounting accessories for ECI/EQI 1300
EnDat01
Adjustment aid for setting the gapID 335529-xx
Mounting aid for adjusting the rotor position to the motor EMFID 352481-02
Accessory for ECI/EQI
For inspecting the scanning gap and adjusting the ECI/EQI 1300 Mounting and adjusting
aid for ECI/EQI 1300 EnDat01
Mounting accessory
Mounting aid for removing the PCB connector, see page 42.
ERO 1200
ERO 1400
41
Rotary encoders without integral bearing – ERO
The ERO rotary encoders without integral bearing consist of a scanning head and a graduated disk, which must be adjusted to each other very exactly. A precise adjustment is an important factor for the attainable measuring accuracy.
The ERO modular rotary encoders consist of a graduated disk with hub and a scanning unit. They are particularly well suited for applications with limited installation space and negligible axial and radial runout, or for applications where friction of any type must be avoided.
In the ERO 1200 series, the disk/hub assembly is slid onto the shaft and adjusted to the scanning unit. The scanning unit is aligned on a centering collar and fastened on the mounting surface.
The ERO 1400 series consists of miniature modular encoders. These rotary encoders have a special built-in mounting aid that centers the graduated disk to the scanning unit and adjusts the gap between the disk and the scanning reticle. This makes it possible to install the encoder in a very short time. The encoder is supplied with a cover cap for protection from extraneous light.
Mounting accessory for ERO 1400
Mounting the ERO
Mounting accessory for ERO 1400
Mounting accessory
Aid for removing the clip for optimal encoder mounting.ID 510175-01
Accessory
Housing for ERO 14xx with axial PCB connector and central hole.ID 331727-23
42
Information on encoder cables
Mounting and initial operation is permissible only with appropriate ESD protection. Do not engage or disengage any connections while under power. To avoid overstressing the individual wires when disengaging a connector, HEIDENHAIN recommends using the mounting aid to pull the PCB connector.
Accessory
Mounting aid for disengaging the PCB connector. Suitable for all rotary encoders in this brochure, except for the ERO 1200 series.ID 1075573-01
To avoid damage to the cable, the pulling force must be applied only to the connector, and not to the wires. For other encoders, use tweezers or the mounting aid if necessary.
Screws
For encoder cables with standard M12 or M23 fl ange sockets, M2.5 screws are to be used.
The M2.5 screws are to be fastened with the following torques:For M12 Md min. 0.3 Nm Md max. 0.65 NmFor M23 Md min. 0.55 Nm Md max. 0.65 NmMinimum tensile strength of screws 800 N/mm2
To prevent the screws from spontaneously loosening, HEIDENHAIN recommends using a materially bonding threadlocker.
For standard encoder cables, the rated wire length for temperature sensors is the same as the rated cable length. Exceptions include encoder cables without crimping on the encoder side or with shield connection clamp. You can receive authorized information (dimension drawing) on request by providing the proper encoder cable ID number (see overview of encoder cables).
Cable length (rated length)
For encoder cables with crimping on the encoder side for strain relief and shield contact, the cable length up to the crimp sleeve is indicated.
Crimp connector
For crimping the wires of the encoder cable for the temperature sensor with the wires of the temperature sensor in the motor.ID 1148157-01
You will fi nd information on the appropriate crimping tools in the Product Information document for the HMC 6.
Strain relief
Avoid torque or strain loading by the mating connector or the encoder cable. Use strain relief if required.
Mounting aid for PCB connector
Rated lengthCrimp sleeve
e.g. EPG 3.7 mm
TPE wires 2 · 0.16 mm2
43
Testing cable
Testing cable for modular rotary
encoders with EnDat22, EnDat01 and
SSI interface
Includes three 12-pin adapter connectors and three 15-pin adapter connectorsID 621742-01
Adapter connectors
Three connectors for replacement12-pin: ID 528694-0115-pin: ID 528694-02
Connecting cables
For extending the testing cable.Complete with D-sub connector (male) and D-sub connector (female), both 15-pin (max. 3 m)ID 675582-xx
Testing cable for ERN 138xx with
commutation signals for sinusoidal
commutation
Includes three 14-pin adapter connectorsID 1118892-02
Adapter connectors
Three connectors for replacement14-pin: ID 528694-04
Connecting cables
For extending the testing cable.Complete with D-sub connector (male) and D-sub connector (female), both 15-pin (max. 3 m)ID 675582-xx
General testing accessories for modular encoders and PWM 20
EnDat01, EnDat H, EnDat T or SSI
interface with incremental signals
Adapter cable 8 mm
M23 connector (female), 17-pin D-sub connector (male), 15-pinID 324544-xx
Adapter cable 8 mm
M23 connector (female), 12-pin D-sub connector (male), 15-pinID 310196-xx
Version for HMC 6
Adapter cable 13.6 mm
M23 SpeedTEC hybrid connector (female), fi ve power wires, two brake wires, six communication wiresD-sub connector (male), 15-pinID 1077866-xx
Adapter cable for connecting the fl ange
socket with the motor with the PWM 20
EnDat22 interface
Adapter cable 6 mm
M23 connector (female), 9-pinM12 coupling (male), 8-pinID 745796-xx(In addition, ID 524599-xx M12 (female) to D-sub connector (male), 15-pin needed
Adapter cable 6 mm
M12 connector (female), 8-pinD-sub connector (male), 15-pin
DRIVE-CLiQ interface
Adapter cable 6.8 mm
M23 connector (female), 9-pinEthernet connector (RJ45) with IP20 metal housing, 6-pinID 1117540-xx
Adapter cable 6.8 mm
M12 connector (female), 8-pinEthernet connector (RJ45) with IP20 metal housing, 6-pinID 1093042-xx
DRIVE-CLiQ is a registered trademarkof SIEMENS AG.
SpeedTEC is a registered trademark of Intercontec Pfeiffer Industriesteckverbindungen GmbH.
44
Mating dimensions and tolerances must be taken into account when mounting rotary encoders. The mating dimensions of some rotary encoders of a series may differ only slightly or may even be identical. As a result, certain rotary encoders are compatible in their mounting dimensions, and can thus be mounted to identical dimensions, depending on the respective requirements.
All dimensions, tolerances, and required mating dimensions are indicated on the dimension drawing of the respective series. Other values for rotary encoders with functional safety (FS) are provided in the corresponding product information documents.
All absolute rotary encoders of the 1100 series are mounting-compatible within the series. There are only slight differences in the respectively permissible deviation between the shaft and coupling surfaces.
Series Differences
ECN/EQN 1100 FS Standard, with slot for FS devices
ECI/EQI 1100 FS Same as ECN/EQN 1100 FS, but with other dimension for the deviation between the shaft and coupling surfaces
ECI/EBI 1100 Same as ECN/EQN 1100 FS, but with other dimension for the deviation between the shaft and coupling surfaces
Mating dimensions in common
Some rotary encoders of the 1300 and ECN/EQN 400 series are mounting-compatible, and can therefore be mounted on identical seats. Slight differences, such as the anti-rotation element and the limited tolerance band of the inside diameter, must be taken into account.
Series Common dimensions
ERN
1300
ECN/EQN
1300
ECI/EQI
1300
ECI/EQI
1300 FS
ECN/EQN
400
ERN 1300 4 4 4 4
ECN/EQN 1300 4 4
ECI/EQI 1300 4
ECI/EQI 1300 FS
ECN/EQN 400 4 4
Series Differences
ERN 1300 Standard, usable for taper shaft
ECN/EQN 1300 Same as ERN 1300, with additional ridge as anti-rotation element (stator coupling)
ECI/EQI 1300 Same as ERN 1300, with tolerance for the 65 mm inside diameter limited to 0.02 mm, and available as additional variant for hollow shaft
ECI/EQI 1300 FS Same as ERN 1300, with additional ridge as anti-rotation element (fl ange)
ECN/EQN 400 Same as ECN/EQN 1300
45
Mounting accessory
Screwdriver bit
• For HEIDENHAIN shaft couplings• For ExN shaft clamps and stator
couplings• For ERO shaft clamps
Width across
fl ats
Length ID
1.5 70 mm 350378-01
1.5 (spherical head)
350378-02
2 350378-03
2 (spherical head)
350378-04
2.5 350378-05
3 (spherical head)
350378-08
4 350378-07
4 (with dog point)1)
350378-14
150 mm 756768-44
TX8 89 mm152 mm
350378-11350378-12
TX15 70 mm 756768-42
1) For screws as per DIN 6912 (low headscrew with pilot recess)
Screwdriver
When using screwdrivers with adjustable torque, ensure that they comply with DIN EN ISO 6789 and therefore fulfi ll the required tolerances for torque values.
Adjustable torque, accuracy ±6 %0.2 Nm to 1.2 Nm ID 350379-041 Nm to 5 Nm ID 350379-05
Screws
Screw Securing method ID
M3x10 A2 ISO 4762 KLF Self-locking 202264-31
M3x10 A2 ISO 4762 KLF Materially bonding anti-rotation lock 202264-87
M3x16 A2 ISO 4762 KLF Self-locking 202264-30
M3x22 A2 ISO 4762 KLF Self-locking 202264-44
M3x22 8.8 ISO 4762 MKL Materially bonding anti-rotation lock 202264-65
M3x25 8.8 ISO 4762 MKL Materially bonding anti-rotation lock 202264-86
M3x35 A2 ISO 4762 KLF Self-locking 202264-29
M3x35 8.8 ISO 4762 MKL Materially bonding anti-rotation lock 202264-66
M4x10 8.8 ISO 4762 MKL Materially bonding anti-rotation lock 202264-85
M5x30 08.8 DIN 6912 MKL Materially bonding anti-rotation lock 202264-76
M5x50 08.8 DIN 6912 KLF Self-locking 202264-36
M5x50 08.8 DIN 6912 MKL Materially bonding anti-rotation lock 202264-54
46
General information
Aligning the rotary encoders to the motor EMF
Synchronous motors require information on the rotor position immediately after switch-on. This information can be provided by rotary encoders with additional commutation signals, which provide relatively rough position information. Also suitable are absolute rotary encoders in multiturn and singleturn versions, which transmit the exact position information within a few angular seconds (see also Electronic commutation with position encoders). When these encoders are mounted, the rotor positions of the encoder must be assigned to those of the motor in order to ensure the most constant possible motor current. Inadequate assignment to the motor EMF will cause loud motor noises and high power loss.
Rotary encoders with integral bearing
First, the rotor of the motor is brought to a preferred position by the application of a DC current. Rotary encoders with
commutation signals are aligned approximately—for example with the aid of the line markers on the encoder or the reference mark signal—and mounted on the motor shaft. The fine adjustment is quite easy with a PWM 9 phase angle measuring device (see HEIDENHAIN measuring and testing devices): the stator of the encoder is turned until the PWM 9 shows that the distance from the reference mark is about zero. Absolute
rotary encoders are fi rst mounted as a complete unit. Then the preferred position of the motor is assigned the value zero. The adjusting and testing package (see HEIDENHAIN measuring and testing devices) serves this purpose. It features the complete range of EnDat functions and makes it possible to shift datums, set write-protection against unintentional changes to saved values, and use further inspection functions.
Rotary encoders without integral
bearing
ECI/EQI rotary encoders are mounted as complete units and then adjusted with the aid of the adjusting and testing package. For the ECI/EQI with pure serial operation, electronic compensation is also possible: The ascertained compensation value can be saved in the encoder and read out by the control electronics to calculate the position value. ECI/EQI 1300 also permit manual alignment. The central screw is loosened again and the encoder rotor is turned with the mounting aid to the desired position until, for example, an absolute value of approximately zero appears in the position data.
Motor current of a well adjusted and a very poorly adjusted rotary encoder
Aligning a rotary encoder to the motor EMF with the aid of the adjusting and testing software
Manual alignment of the ECI/EQI 1300
Encoder aligned
Encoder very poorly aligned
47
General mechanical information
Certifi ed by NRTL (Nationally
Recognized Testing Laboratory)
All rotary encoders in this brochure comply with the UL safety regulations for the USA and the CSA safety regulations for Canada.
Acceleration
Encoders are subject to various types of acceleration during operation and mounting.• Vibration
The encoders are qualifi ed on a test stand to operate with the specifi ed acceleration values at frequencies from 55 Hz to 2000 Hz in accordance with EN 60 068-2-6. However, if the application or poor mounting causes long-lasting resonant vibration, it can limit performance or even damage the encoder. Comprehensive tests of the
entire system are therefore required.
• Shock
The encoders are qualifi ed on a test stand for non-repetitive semi-sinusoidal shock to operate with the specifi ed acceleration values and duration in accordance with EN 60 068-2-27. This
does not include continuous shock
loads, which must be tested in the
application.
• The maximum angular acceleration is 105 rad/s2. This is the highest permissible acceleration at which the rotor will rotate without damage to the encoder. The actually attainable angular acceleration lies in the same order of magnitude (for deviating values for ECN/ERN 100 see Specifi cations), but it depends on the type of shaft connection. A suffi cient safety factor is to be determined through system tests.
Other values for rotary encoders with functional safety are provided in the corresponding product information documents.
Humidity
The maximum permissible relative humidity is 75 %. 93 % is permissible temporarily. Condensation is not permissible.
Magnetic fi elds
Magnetic fi elds > 30 mT can impair proper function of encoders. If required, please contact HEIDENHAIN in Traunreut, Germany.
RoHS
HEIDENHAIN has tested the products for safety of the materials as per European Directives 2002/95/EC (RoHS) and 2002/96/EC (WEEE). For a Manufacturer’s Declaration on RoHS, please refer to your sales agency.
Natural frequencies
The rotor and the couplings of ROC/ROQ/ROD and RIC/RIQ rotary encoders, as also the stator and stator coupling of ECN/EQN/ERN rotary encoders, form a single vibrating spring-mass system.
The natural frequency of the coupling fN should be as high as possible. A prerequisite for the highest possible natural frequency on ROC/ROQ/ROD/RIC/RIQ
rotary encoders is the use of a diaphragm coupling with a high torsional rigidity C (see Shaft couplings).
fN = 2 ·
· C1I
fN: Natural frequency of coupling in HzC: Torsional rigidity of the coupling in Nm/
radI: Moment of inertia of the rotor in kgm2
ECN/EQN/ERN rotary encoders form a vibrating spring-mass system whose natural frequency of the coupling fN should be as high as possible. If radial and/or axial acceleration forces are added, the rigidity of the encoder bearing and the encoder stator is also signifi cant. If such loads occur in your application, HEIDENHAIN recommends consulting with the main facility in Traunreut.
Protection against contact (EN 60 529)
After encoder installation, all rotating parts must be protected against accidental contact during operation.
Protection (EN 60 529)
The ingress of contamination can impair proper function of the encoder. Unless otherwise indicated, all rotary encoders meet protection standard IP64 (ExN/ROx 400: IP67) according to EN 60 529. This includes housings, cable outlets and fl ange sockets when the connector is fastened.
The shaft inlet provides protection to IP64. Splash water should not contain any substances that would have harmful effects on the encoder’s parts. If the protection of the shaft inlet is not suffi cient (such as when the encoders are mounted vertically), additional labyrinth seals should be provided. Many encoders are also available with protection to class IP66 for the shaft inlet. The sealing rings used to seal the shaft are subject to wear due to friction, the amount of which depends on the specifi c application.
Noise emission
Running noise can occur during operation, particularly when encoders with integral bearing or multiturn rotary encoders (with gears) are used. The intensity may vary depending on the mounting situation and the speed.
System tests
Encoders from HEIDENHAIN are usually integrated as components in larger systems. Such applications require comprehensive tests of the entire
system regardless of the specifi cations of the encoder.
The specifi cations shown in this brochure apply to the specifi c encoder, not to the complete system. Any operation of the encoder outside of the specifi ed range or for any applications other than the intended applications is at the user’s own risk.
48
Mounting
Work steps to be performed and dimensions to be maintained during mounting are specifi ed solely in the mounting instructions supplied with the unit. All data in this catalog regarding mounting are therefore provisional and not binding; they do not become terms of a contract.
All information on screw connections are given with respect to a mounting temperature of 15 °C to 35 °C.
Rotary encoders with functional
safety
Mounting screws and central screws from HEIDENHAIN (not included in delivery) feature a coating which, after hardening, provides a materially bonding anti-rotation lock. Therefore the screws cannot be reused. The minimum shelf life is two years (storage at 30 °C and 65 % relative humidity). The expiration date is printed on the package.
Screw insertion and application of tightening torque must therefore take no longer than fi ve minutes. The required strength is reached at room temperature after six hours. The curing time increases with decreasing temperature. Hardening temperatures below 5 °C are not permitted.
Screws with materially bonding anti-rotation lock must not be used more than once. In case of replacement, recut the threads and use new screws. A chamfer is required on threaded holes to prevent any scraping off of the adhesive layer.
Changes to the encoder
The correct operation and accuracy of encoders from HEIDENHAIN is ensured only if they have not been modifi ed. Any changes, even minor ones, can impair the operation and reliability of the encoders, and result in a loss of warranty. This also includes the use of additional retaining compounds, lubricants (e.g. for screws) or adhesives not explicitly prescribed. In case of doubt, we recommend contacting HEIDENHAIN in Traunreut.
The following material properties and conditions must be complied with when customers plan and execute installation.
Mating material class Aluminum Steel
Material type Hardenable wrought aluminum alloys
Unalloyed hardened steel
Tensile strength Rm 220 N/mm2 600 N/mm2
Yield strength Rp,0.2 or yield
point Re
Not applicable 400 N/mm2
Shear strength a 130 N/mm2 390 N/mm2
Interface pressure pG 250 N/mm2 660 N/mm2
Modulus of elasticity E
(at 20 °C)70 kN/mm2 to 75 kN/mm2
200 kN/mm2 to 215 kN/mm2
Coeffi cient of thermal
expansion therm (at 20 °C)25 · 10–6K–1 10 · 10–6K–1 to
17 · 10–6K–1
Surface roughness Rz 16 µm
Friction values Mounting surfaces must be clean and free of grease. Use screws and washers in the delivery condition.
Tightening process Use a signaling torque tool according to DIN EN ISO 6789; accuracy ±6 %
Mounting temperature 15 °C to 35 °C
49
Self-heating at
shaft speed nmax
Stub shaft/tapered shaftROC/ROQ/ROD/
RIC/RIQ/
ExN 400/1300
+ 5 K +10 K for IP66 protection
ROD 600 + 75 K
ROD 1900 + 10 K
Blind hollow shaftECN/EQN/
ERN 400/1300
+ 30 K + 40 K for IP66 protection
ECN/EQN/
ERN 1000
+ 10 K
Hollow through shaftECN/ERN 100
ECN/EQN/
ERN 400
+40 K for IP64 protection + 50 K for IP66 protection
An encoder’s typical self-heating values depend on its design characteristics at maximum permissible speed. The correlation between rotational speed and heat generation is nearly linear.
Measuring the actual operating temperature at the defi ned measuring point of the rotary encoder (see Specifi cations)
Temperature ranges
For the unit in its packaging, the storage
temperature range is –30 to +65 °C (HR 1120: –30 °C to 70 °C). The operating
temperature range indicates the temperatures that the encoder may reach during operation in the actual installation environment. The function of the encoder is guaranteed within this range. The operating temperature is measured at the defi ned measuring point (see dimension drawing) and must not be confused with the ambient temperature.
The temperature of the encoder is infl uenced by:• Mounting conditions• Ambient temperature• Self-heating of the encoder
The self-heating of an encoder depends both on its design characteristics (stator coupling/solid shaft, shaft sealing ring, etc.) and on the operating parameters (rotational speed, voltage supply). Temporarily increased self-heating can also occur after very long breaks in operation (of several months). Please take a two-minute run-in period at low speeds into account. Higher heat generation in the encoder means that a lower ambient temperature is required to keep the encoder within its permissible operating temperature range.
This table shows the approximate values of self-heating to be expected in the encoders. In the worst case, a combination of operating parameters can exacerbate self-heating, for example a 30 V supply voltage and maximum rotational speed. Therefore, the actual operating temperature should be measured directly at the encoder if the encoder is operated near the limits of permissible parameters. Then suitable measures should be taken (fan, heat sinks, etc.) to reduce the ambient temperature far enough so that the maximum permissible operating temperature will not be exceeded during continuous operation.
For high speeds at maximum permissible ambient temperature, special versions are available on request with a reduced degree of protection (without shaft seal and its concomitant frictional heat).
Conditions for longer storage times
HEIDENHAIN recommends the following in order to make storage times beyond 12 months possible:• Leave the encoders in the original
packaging• The storage location should be dry, free
of dust, and temperature-regulated. It should also not be subjected to vibrations, mechanical shock or chemical infl uences
• After every 12 months, rotate the shafts of encoders with integral bearings at low speed without axial or radial shaft loading (e.g., as running-in phase), so that the bearing lubrication is distributed evenly
Expendable parts
Encoders from HEIDENHAIN are designed for a long service life. Preventive maintenance is not required. However, they contain components that are subject to wear, depending on the application and manipulation. These include in particular cables with frequent fl exing.
Other such components are the bearings of encoders with integral bearing, shaft sealing rings on rotary and angle encoders, and sealing lips on sealed linear encoders.
Service life
Unless specifi ed otherwise, HEIDENHAIN encoders are designed for a service life of 20 years, equivalent to 40 000 operating hours under typical operating conditions.
Insulation
The encoder housings are isolated against internal circuits.Rated surge voltage: 500 VPreferred value as per DIN EN 60 664-1Overvoltage category IIContamination level 2(no electrically conductive contamination)
M12/M23
< 1
< 1
< 1
1.
1. 2.
2.
a) b)
a)
b)
50
Encoders with integral bearing,
pluggable cable and standard bearing
Check the resistance between the fl ange socket and the rotor.Nominal value: < 1 ohm
Electrical resistance
Exposed encoders (ExI 100) without
integral bearing and with pluggable
cable
Check the resistance between the fl ange socket, rotor a) and stator mounting screw b).Nominal value: < 1 ohm
Exposed encoders (ExI 1100) without
integral bearing and with pluggable
cable
Check the resistance between the fl ange socket, rotor a) and stator (metal housing) b).Nominal value: < 1 ohm
Clamp must be screwed conductively to the motor housing. Vendor part without CE marking. CE compliance of the complete system must be ensured.
Clamp (if required) must be screwed conductively to the motor housing. Vendor part without CE marking. CE compliance of the complete system must be ensured.
51
Temperature measurement in motors
Transmission of temperature values
To protect the motor from overload, the motor manufacturer usually monitors the temperature of the motor winding. In classic applications, the values from the temperature sensor are led via two separate lines to the subsequent electronics, where they are evaluated. Depending on their version, HEIDENHAIN rotary encoders with EnDat 2.2 interface feature an internal temperature sensor integrated in the encoder electronics as well as an evaluation circuit to which an external temperature sensor can be connected. In both cases, the respective digitized measured temperature value is transmitted purely serially over the EnDat protocol (as a component of the additional datum). This means that no separate lines from the motor to the drive controller are necessary.
Signaling of excessive temperature
With regard to the internal temperature sensor, such rotary encoders can support a dual-level cascaded signaling of exceeded temperature. It consists of an EnDat warning and an EnDat error message.Whether the respective encoder supports these warning and error messages can be read out from the following addresses of the integral memory:• EnDat warning for excessive
temperature: EnDat memory area Parameters of the encoder manufacturer, word 36 – Support of warnings, bit 21 – Temperature exceeded
• EnDat error message for excessive temperature: EnDat memory area Parameters of the encoder manufacturer for EnDat 2.2, word 35 – Support of operating condition error sources, bit 26 – Temperature exceeded
In compliance with the EnDat specifi cation, when the temperature reaches the warning threshold for excessive temperature of the internal temperature sensor, it triggers an EnDat warning (EnDat memory area for operating status, word 1 – warning, bit 21 – temperature exceeded). This warning threshold for the internal temperature sensor is saved in the EnDat memory area Operating parameters, word 6 – Threshold sensitivity warning bit for exceeded temperature, and can be individually adjusted. At the time the encoder is shipped, a default value corresponding to the maximum permissible operating temperature is stored here (temperature at measuring point M1 as per the dimension drawing). The temperature measured by the internal temperature sensor is higher by a device-specifi c amount than the temperature at measuring point M1.
Encoder Interface Internal temperature
sensor1)
External
temperature sensor
Connection
ECI/EQI 1100 EnDat22 4 (±1 K) Possible
ECI/EBI 1100 EnDat22 4 (±5 K) –
ECN/EQN 1100 EnDat22 4 (±5 K) Possible
EnDat01 – –
ECN/EQN 1300 EnDat22 4 (±4 K) Possible
EnDat01 – –
ECN/EQN 400 EnDat22 4 (±4 K) Possible
EnDat01 – –
ECI/EQI 1300 EnDat22 4 (±1 K) Possible
EnDat01 – –
ECI/EBI 100 EnDat22 4 (±4 K) Possible
EnDat01 – –
1) In parentheses: accuracy at 125 °C
The encoder features a further, but non-adjustable trigger threshold of the internal temperature sensor, which when exceeded triggers an EnDat error message (EnDat memory area for operating status, word 0 – error messages, bit 22 – position and, in the additional datum 2 operating status error sources, bit 26 – temperature exceeded). This threshold sensitivity, if there is one, depends on the device and is shown in the specifi cations.
HEIDENHAIN recommends adjusting the threshold sensitivity so that it lies below the trigger threshold for the EnDat error message Temperature exceeded by a suffi cient value for the respective application. The encoder’s intended use also requires compliance with the operating temperature at the measuring point M1.
52
Cable confi guration of the temperature wires in the motor.
Specifi cations of the evaluation
Resolution 0.1 K (with KTY84-130)
Power supply of sensor 3.3 V over dropping resistor RV = 2 k
Measuring current typically 1.2 mA at 595 1.0 mA at 990
Total delay of temperature evaluation1)
160 ms max.
Cable length2)
with wire cross section of 0.16 mm2 at TPE or 0.25 mm2 with cross-linked polyolefi n
1 m
1) Filter time constants and conversion time are included. The time constant/response delay of the temperature sensor and the time lag for reading out data through the device interface are not included here.
2) Limit of cable length due to interference. The measuring error due to the line resistance is negligible.
Output cable of the encoder within the motor
Encoder
Flange sockets
Power leads
Brake wires
Temperature
Information for the connection of an
external temperature sensor
• The external temperature sensor must comply with the following prerequisites as per EN 61800-5-1:
– Voltage class A – Contamination level 2 – Overvoltage category 3• Only connect passive temperature
sensors• The connections for the temperature
sensor are galvanically connected with the encoder electronics.
• Depending on the application, the temperature sensor assembly (sensor + cable assembly) is to be mounted with double or reinforced insulation from the environment.
• Accuracy of temperature measurement depends on the temperature range.
• Note the tolerance of the temperature sensor
• The transmitted temperature value is not a safe value in the sense of functional safety
• The motor manufacturer is responsible for the quality and accuracy of the temperature sensor, as well as for ensuring that electrical safety is maintained
• Use a crimp connector with a suitable temperature range (e.g. up to 150 °C ID 1148157-01)
The accuracy of temperature measurement depends on the sensor used and the temperature range.
KTY84-130 PT1000
–40 °C to +80 °C ±6 K ±6 K
80.1 °C to 160 °C ±3 K ±4 K
160.1 °C to 200 °C ±6 K ±6 K
53
Connectable temperature sensors
The temperature evaluation within the rotary encoder is designed for a KTY 84-130 PTC thermistor. For other temperature sensors, the output value (value in additional datum 1) must be converted to a temperature value.
Figure 1 shows the relationship between the output value and the resistance of the temperature sensor. For the KTY 84-130, the temperature value equals the output value. The value unit is 0.1 kelvin.
Figure 3.42: Relationship between output value and resistance
Output value
Resis
tan
ce in
Tem
pera
ture
valu
e
Output value
Figure 2: Relationship between output value and temperature value using the example of the PT1000
Example for KTY 84-130 temperature sensor:Sensor resistance = 1000 output value (temperature value) 3751; which corresponds to 375, 1 K or 102 °C.
Example with temperature sensor PT1000:Output value = 3751 temperature value = 2734 (corresponds to 0.3 °C). The following polynomial can be used to mathematically calculate the temperature value:
TemperaturePT1000 = 1.3823 · 10–7 · A3 – 1.2005 · 10–3 · A2 + 4.6807 · A – 5.2276 · 103
O = Output value. The PT1000 polynomial is value for: 3400 O 4810.
Figure 2 shows the relationship between the output value and temperature value for a PT1000. The temperature value for the PT1000 can be found in the graphic from the output value.
For more information, see page 42.
54
ECN/EQN 1100 series
Absolute rotary encoders
• 75A stator coupling for plane surface
• Blind hollow shaft
• Encoders available with functional safety
= Bearing of mating shaft = Measuring point for operating temperature = Measuring point for vibration① = Contact surface of slot② = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock③ = Shaft; ensure full-surface contact!④ = Slot required only for ECN/EQN and ECI/EQI, WELLA1 = 1KA⑤ = Flange surface of ECI/EQI; ensure full-surface contact! ⑥ = Coupling surface of ECN/EQN⑦ = Maximum permissible deviation between shaft and coupling surface. Compensation of mounting tolerances and thermal expansion for which
±0.15 mm of dynamic axial motion is permitted⑧ = Maximum permissible deviation between shaft and fl ange surfaces. Compensation of mounting tolerances and thermal expansion⑨ = Flange surface of ECI/EBI; ensure full-surface contact!⑩ = Undercut⑪ = Possible centering hole⑫ = PCB connector, 15-pin⑬ = Cable gland with crimp sleeve, 4.3±0.1 – 7 long⑭ = Positive-fi t element. Ensure correct engagement in slot 4, e.g. by measuring the device overhang⑮ = Direction of shaft rotation for output signals as per the interface description
Required mating dimensions
55
Sp
ecifi c
ati
on
s
Absolute
ECN 1113 ECN 1123 EQN 1125 EQN 1135
Interface EnDat 2.2
Ordering designation EnDat01 EnDat22 EnDat01 EnDat22
Position values/revolution 8192 (13 bits) 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits)
Revolutions – 4096 (12 bits)
Elec. permissible speed/Deviations1)
4000 rpm/± 1 LSB12 000 rpm/± 16 LSB
12 000 rpm(for continuous position value)
4000 rpm/± 1 LSB12 000 rpm/± 16 LSB
12 000 rpm(for continuous position value)
Calculation time tcalClock frequency
9 µs 2 MHz
7 µs 8 MHz
9 µs 2 MHz
7 µs 8 MHz
Incremental signals 1 VPP1) – 1 VPP
1) –
Line count 512 – 512 –
Cutoff frequency –3 dB 190 kHz – 190 kHz –
System accuracy ±60“
Electrical connection Via 15-pin PCB cnnctr. Via 15-pin PCB cnnctr.3) Via 15-pin PCB cnnctr. Via 15-pin PCB cnnctr.3)
Voltage supply DC 3.6 V to 14 V
Power consumption (max.) 3.6 V: 0.6 W14 V: 0.7 W
3.6 V: 0.7 W14 V: 0.8 W
Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)
Shaft Blind hollow shaft 6 mm with positive fi t element
Mech. permiss. speed n 12 000 rpm
Starting torque 0.001 Nm (at 20 °C) 0.002 Nm (at 20 °C)
Moment of inertia of rotor 0.4 · 10–6 kgm2
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
200 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –40 °C
Protection EN 60 529 IP40 when mounted
Mass 0.1 kg
Valid for ID 803427-xx 803429-xx 803428-xx 803430-xx
1) Restricted tolerances Signal amplitude: 0.80 VPP to 1.2 VPP Asymmetry: 0.05 Amplitude ratio: 0.9 to 1.1 Phase angle: 90° ±5° elec.2) Velocity-dependent deviations between the absolute and incremental signals3) With connection for temperature sensor, evaluation optimized for KTY 84-130 Functional safety available for ECN 1123 and EQN 1135. For dimensions and specifi cations see the Product Information document
56
ERN 1023
Incremental rotary encoders
• Stator coupling for plane surface
• Blind hollow shaft
• Block commutation signals
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature① = 2 screws in clamping ring. Tightening torque: 0.6 Nm ±0.1 Nm, SW1.5② = Reference mark position ±10°③ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted④ = Ensure protection against contact (EN 60 529)⑤ = Direction of shaft rotation for output signals as per the interface description
57
ERN 1023
Interface TTL
Signal periods/rev* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192
Reference mark One
Output frequencyEdge separation a
300 kHz 0.41 µs
Commutation signals1) TTL (3 commutation signals U, V, W)
Width* 2 · 180° (C01); 3 · 120° (C02); 4 · 90° (C03)
System accuracy ±260” ±130”
Electrical connection* Cable 1 m, 5 m without coupling
Voltage supply DC 5 V ±0.5 V
Current consumption (without load)
70 mA
Shaft Blind hollow shaft 6 mm
Mech. permiss. speed n 6000 rpm
Starting torque 0.005 Nm (at 20 °C)
Moment of inertia of rotor 0.5 · 10–6 kgm2
Permissible axial motion of measured shaft
±0.15 mm
Vibration 25 Hz to 2000 HzShock 6 ms
100 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 90 °C
Min. operating temp. Fixed cable: –20 °CMoving cable: –10 °C
Protection EN 60 529 IP 64
Mass 0.07 kg (without cable)
Valid for ID 684703-xx
Bold: These preferred versions are available on short notice* Please select when ordering1) Three square-wave signals with signal periods of 90°, 120° or 180° mechanical phase shift, see Commutation signals for block
commutation in the brochure Interfaces of HEIDENHAIN Encoders
58
ERN 1123
Incremental rotary encoders
• Stator coupling for plane surface
• Hollow through shaft
• Block commutation signals
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature① = 2 screws in clamping ring. Tightening torque: 0.6 Nm ±0.1 Nm, SW1.5② = Reference mark position ±10°③ = 15-pin JAE connector④ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted ⑤ = Ensure protection against contact (EN 60 529)⑥ = Direction of shaft rotation for output signals as per the interface description
59
ERN 1123
Interface TTL
Signal periods/rev* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192
Reference mark One
Output frequencyEdge separation a
300 kHz 0.41 µs
Commutation signals1) TTL (3 commutation signals U, V, W)
Width* 2 · 180° (C01); 3 · 120° (C02); 4 · 90° (C03)
System accuracy ±260” ±130”
Electrical connection Via 15-pin PCB connector
Voltage supply DC 5 V ±0.5 V
Current consumption (without load)
70 mA
Shaft Hollow through shaft 8 mm
Mech. permiss. speed n 6000 rpm
Starting torque 0.005 Nm (at 20 °C)
Moment of inertia of rotor 0.5 · 10–6 kgm2
Permissible axial motion of measured shaft
±0.15 mm
Vibration 25 Hz to 2000 HzShock 6 ms
100 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 90 °C
Min. operating temp. –20 °C
Protection EN 60 529 IP002)
Mass 0.06 kg
Valid for ID 684702-xx
Bold: These preferred versions are available on short notice* Please select when ordering1) Three square-wave signals with signal periods of 90°, 120° or 180° mechanical phase shift, see Commutation signals for block
commutation in the brochure Interfaces of HEIDENHAIN Encoders2) CE compliance of the complete system must be ensured by taking the correct measures during installation.
60
ECN/EQN 1300 series
Absolute rotary encoders
• 07B stator coupling with anti-rotation element for axial mounting
• Taper shaft 65B
• Encoders available with functional safety
• Fault exclusion for rotor and stator coupling as per EN 61 800-5-2 possible
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature = Measuring point for vibration, see D 741714① = Clamping screw for coupling ring, width A/F 2, tightening torque 1.25 Nm – 0.2 Nm② = Die-cast cover③ = Screw plug width A/F 3 and 4, tightening torque 5 Nm + 0.5 Nm④ = PCB connector, 12-pin + 4-pin⑤ = Screw, DIN 6912 – M5x50 – 08.8 – MKL width A/F 4, tightening torque 5 Nm + 0.5 Nm⑥ = Back-off thread, M6⑦ = Back-off thread, M10⑧ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted⑨ = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock⑩ = Direction of shaft rotation for output signals as per the interface description
Required mating dimensions *) 65+0.02 for ECI/EQI 13xx
61
Absolute
ECN 1313 ECN 1325 EQN 1325 EQN 1337
Interface EnDat 2.2
Ordering designation EnDat01 EnDat22 EnDat01 EnDat22
Position values/revolution 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits)
Revolutions – 4096 (12 bits)
Elec. permissible speed/Deviations1)
512 lines: 5000 rpm/±1 LSB12 000 rpm/±100 LSB2048 lines: 1500 rpm/±1 LSB12 000 rpm/±50 LSB
15 000 rpm (for continuous position value)
512 lines: 5000 rpm/±1 LSB12 000 rpm/±100 LSB2048 lines: 1500 rpm/±1 LSB12 000 rpm/±50 LSB
15 000 rpm (for continuous position value)
Calculation time tcalClock frequency
9 µs 2 MHz
7 µs 16 MHz
9 µs 2 MHz
7 µs 16 MHz
Incremental signals 1 VPP1) – 1 VPP
1) –
Line count* 512 2048 2048 512 2048 2048
Cutoff frequency –3 dB 2048 lines: 400 kHz 512 lines: 130 kHz
– 2048 lines: 400 kHz 512 lines: 130 kHz
–
System accuracy 512 lines: ±60“; 2048 lines: ±20“
Electrical connection
Via PCB connector12-pin Rotary encoder: 12-pin
Temperature sensor3): 4-pin
12-pin Rotary encoder: 12-pinTemperature sensor3): 4-pin
Voltage supply DC 3.6 V to 14 V
Power consumption (max.) 3.6 V: 0.6 W14 V: 0.7 W
3.6 V: 0.7 W14 V: 0.8 W
Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)
Shaft Taper shaft 9.25 mm; taper 1:10
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Starting torque 0.01 Nm (at 20 °C)
Moment of inertia of rotor 2.6 · 10-6 kgm2
Natural freq. of stator coupling 1800 Hz
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 4) (EN 60 068-2-6)2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –40 °C
Protection EN 60 529 IP40 when mounted
Mass 0.25 kg
Valid for ID 768295-xx 683643-xx 827039-xx 683645-xx
* Please select when ordering1) Restricted tolerances Signal amplitude: 0.8 VPP to 1.2 VPP Asymmetry: 0.05 Amplitude ratio: 0.9 to 1.1 Phase angle: 90° ±5° elec. Signal-to-noise ratio E, F: 100 mV
2) Velocity-dependent deviations between the absolute and incremental signals
3) Evaluation optimized for KTY 84-1304) As per standard for room temperature; for
operating temperature Up to 100 °C: 300 m/s2;Up to 115 °C: 150 m/s2
Functional safety available for ECN 1325 and EQN 1337. For dimensions and specifi cations see the Product Information document
62
ECN/EQN 1300 S series
Absolute rotary encoders
• 07B stator coupling with anti-rotation element for axial mounting
• Taper shaft 65B
• Encoders available with functional safety
• Fault exclusion for rotor and stator coupling as per EN 61 800-5-2 possible
= Bearing of mating shaft = Measuring point for operating temperature = Measuring point for vibration, see D 741714① = Clamping screw for coupling ring, width A/F 2, tightening torque 1.25 Nm – 0.2 Nm② = Die-cast cover③ = Screw plug width A/F 3 and 4, tightening torque 5 Nm + 0.5 Nm④ = PCB connector, 12-pin + 4-pin⑤ = Screw, DIN 6912 – M5x50 – 08.8 – MKL width A/F 4, tightening torque 5 Nm + 0.5 Nm⑥ = Back-off thread, M6⑦ = Back-off thread, M10⑧ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted⑨ = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock⑩ = Direction of shaft rotation for output signals as per the interface description
Required mating dimensions
63
Absolute
ECN 1324 S EQN 1336 S
Interface DRIVE-CLiQ
Ordering designation DC01
Position values/revolution 16 777 216 (24 bits)
Revolutions – 4096 (12 bits)
Speed1) 15 000 rpm (at
12 000 rpm (at
ProcessingTIME_MAX_ACTVAL 8 µs
Incremental signals –
System accuracy ±20“
Electrical connection
Via PCB connectorRotary encoder: 12-pinTemperature sensor1): 4-pin
Voltage supply DC 10 V to 28 V
Power consumption (max.) 10 V: 0.9 W28.8 V: 1 W
10 V: 1 W28.8 V: 1.1 W
Current consumption (typical) At 24 V: 38 mA (without load) At 24 V: 43 mA (without load)
Shaft Taper shaft 9.25 mm; taper 1:10
Starting torque 0.01 Nm (at 20 °C)
Moment of inertia of rotor 2.6 · 10-6 kgm2
Natural frequency of the stator coupling
1800 Hz
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 (EN 60 068-2-6)2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 100 °C
Min. operating temp. –30 °C
Protection EN 60 529 IP40 when mounted
Mass 0.25 kg
Valid for ID 1042274-xx 1042276-xx
1) Evaluation optimized for KTY 84-130 Functional safety available for ECN 1324 S and EQN 1336 S. For dimensions and specifi cations see the Product Information document
DRIVE-CLiQ is a registered trademark of SIEMENS AG.
64
ECN/EQN 400 series
Absolute rotary encoders
• 07B stator coupling with anti-rotation element for axial mounting
• Taper shaft 65B
• Encoders available with functional safety
• Fault exclusion for rotor and stator coupling as per EN 61 800-5-2 possible
= Bearing of mating shaft = Measuring point for operating temperature = Measuring point for vibration, see D 741714① = Clamping screw for coupling ring, width A/F 2, tightening torque 1.25 Nm – 0.2 Nm② = Screw plug width A/F 3 and 4, tightening torque 5 Nm + 0.5 Nm③ = Screw, DIN 6912 – M5x50 – 08.8 – MKL width A/F 4, tightening torque 5 Nm + 0.5 Nm④ = Back-off thread, M10⑤ = Back-off thread, M6⑥ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted⑦ = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock② = Direction of shaft rotation for output signals as per the interface description
Required mating dimensions *) 65+0.02 for ECI/EQI 13xx
65
Absolute
ECN 413 ECN 425 EQN 425 EQN 437
Interface EnDat 2.2
Ordering designation EnDat01 EnDat22 EnDat01 EnDat22
Position values/revolution 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits)
Revolutions – 4096 (12 bits)
Elec. permissible speed/Deviations1)
1500 rpm/±1 LSB12 000 rpm/± 50 LSB
15 000 rpm
(for continuous position value)
1500 rpm/±1 LSB12 000 rpm/± 50 LSB
15 000 rpm (for continuous position value)
Calculation time tcalClock frequency
9 µs 2 MHz
7 µs 16 MHz
9 µs 2 MHz
7 µs 16 MHz
Incremental signals 1 VPP1) – 1 VPP
1) –
Line count 2048
Cutoff frequency –3 dB 400 kHz – 400 kHz –
System accuracy ±20“
Electrical connection* Cable 5 m, with or without M23 coupling
Cable 5 mwith M12 coupling
Cable 5 m, with or without M23 coupling
Cable 5 mwith M12 coupling
Voltage supply DC 3.6 V to 14 V
Power consumption (max.) 3.6 V: 0.6 W14 V: 0.7 W
3.6 V: 0.7 W14 V: 0.8 W
Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)
Shaft Taper shaft 9.25 mm; taper 1:10
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Starting torque 0.01 Nm (at 20 °C)
Moment of inertia of rotor 2.6 · 10-6 kgm2
Natural frequency of the stator coupling
1800 Hz
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 (EN 60 068-2-6)2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 100 °C
Min. operating temp. Fixed cable: –40 °CMoving cable: –10 °C
Protection EN 60 529 IP64 when mounted
Mass 0.25 kg
Valid for ID 1065932-xx 683644-xx 1109258-xx 683646-xx
* Please select when ordering1) Restricted tolerances Signal amplitude: 0.8 VPP to 1.2 VPP Asymmetry: 0.05 Amplitude ratio: 0.9 to 1.1 Phase angle: 90° ±5° elec.
2) Velocity-dependent deviations between the absolute and incremental signals
Functional safety available for ECN 425 and EQN 437. For dimensions and specifi cations see the Product Information document
66
ERN 1300 series
Incremental rotary encoders
• Stator coupling 06 for axis mounting
• Taper shaft 65B
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature① = Clamping screw for coupling ring, width A/F 2, tightening torque 1.25 Nm – 0.2 Nm② = Die-cast cover③ = Screw plug width A/F 3 and 4, tightening torque 5 Nm + 0.5 Nm④ = PCB connector 12-pin⑤ = Reference mark for shaft/cap alignment⑥ = Back-off thread, M6⑦ = Back-off thread, M10⑧ = Self-tightening screw, M5x50 DIN 6912 SW4, tightening torque 5 Nm + 0.5 Nm⑨ = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted⑩ = Direction of shaft rotation for output signals as per the interface description
Alternative:ECN/EQN 1300 mating dimensions with slot for stator coupling for anti-rotation element also applicable.
*) 65+0.02 for ECI/EQI 13xx
67
Incremental
ERN 1321 ERN 1381 ERN 1387 ERN 1326
Interface TTL 1 VPP1) TTL
Line count*/System accuracy
1024/±64“2048/±32“4096/±16“
512/±60“2048/±20“4096/±16“
2048/±20“ 1024/±64“2048/±32“4096/±16“
8192/±16“5)
Reference mark One
Output frequencyEdge separation aCutoff frequency –3 dB
300 kHz 0.35 µs–
–
210 kHz
300 kHz 0.35 µs–
150 kHz 0.22 µs
Commutation signals – 1 VPP1) TTL
Width* – Z1 track2) 3 · 120°; 4 · 90°3)
Electrical connection Via 12-pin PCB connector Via 14-pin PCB connector
Via 16-pin PCB connector
Voltage supply DC 5 V ±0.5 V DC 5 V ± 0.25 V DC 5 V ± 0.5 V
Current consumption (w/o load) 120 mA 130 mA 150 mA
Shaft Taper shaft 9.25 mm; taper 1:10
Mech. permiss. speed n 15 000 rpm
Starting torque 0.01 Nm (at 20 °C)
Moment of inertia of rotor 2.6 · 10-6 kgm2
Natural frequency of the stator coupling
1800 Hz
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 4) (EN 60 068-2-6)2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 120 °C 120 °C4096 lines: 80 °C
120 °C
Min. operating temp. –40 °C
Protection EN 60 529 IP40 when mounted
Mass 0.25 kg
Valid for ID 385423-xx 534118-xx 749144-xx 574485-xx
* Please select when ordering1) Restricted tolerances Signal amplitude: 0.8 VPP to 1.2 VPP Asymmetry: 0.05 Amplitude ratio: 0.9 to 1.1 Phase angle: 90° ±5° elec. Signal-to-noise ratio E, F: 100 mV2) One sine and one cosine signal per revolution; see the brochure Interfaces of HEIDENHAIN Encoders3) Three square-wave signals with signal periods of 90° or 120° mechanical phase shift; see the brochure Interfaces of
HEIDENHAIN Encoders4) As per standard for room temperature; for operating temperature Up to 100 °C: 300 m/s2
Up to 120 °C: 150 m/s2
5) Through integrated signal doubling
68
EQN/ERN 400 series
Absolute and incremental rotary encoders
• Torque support
• Blind hollow shaft
• Replacement for Siemens 1XP8000
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature① = Distance from clamping ring to coupling② = Clamping screw with hexalobular socket X8, tightening torque 1.1 Nm ±0.1 Nm③ = Direction of shaft rotation for output signals as per the interface description
Siemens model Replacement model ID Design
1XP8012-10 ERN 4301) HTL 597331-76 Cable 0.8 m with mounted coupling and M23 central fastening, 17-pin1XP8032-10 ERN 430 HTL
1XP8012-20 ERN 4201) TTL 597330-74
1XP8032-20 ERN 420 TTL
1XP8014-10 EQN 4251) EnDat 649989-74 Cable 1 m with M23 coupling, 17-pin
1XP8024-10 EQN 425 EnDat
1XP8014-20 EQN 4251) SSI 649990-73
1XP8024-20 EQN 425 SSI1) Original Siemens encoder features M23 fl ange socket, 17-pin
69
Absolute Incremental
EQN 425 ERN 420 ERN 430
Interface* EnDat 2.2 SSI TTL HTL
Ordering designation EnDat01 SSI41r1 – –
Positions per revolution 8192 (13 bits) – –
Revolutions 4096 – –
Code Pure binary Gray – –
Elec. permissible speedDeviation1)
1500/10 000 rpm±1 LSB/±50 LSB
12 000 rpm±12 LSB
– –
Calculation time tcalClock frequency
9 µs 2 MHz
5 µs–
– –
Incremental signals 1 VPP2) TTL HTL
Line counts 2048 512 1024
Cutoff frequency –3 dBOutput frequencyEdge separation a
400 kHz––
130 kHz––
– 300 kHz 0.39 µs
System accuracy ±20“ ±60“ 1/20 of grating period
Electrical connection Cable 1 m, with M23 coupling Cable 0.8 m with mounted coupling and central fastening
Voltage supply DC 3.6 V to 14 V DC 10 V to 30 V DC 5 V ± 0.5 V DC 10 V to 30 V
Power consumption (max.) 3.6 V: 0.7 W14 V: 0.8 W
10 V: 0.75 W30 V: 1.1 W
– –
Current consumption (typical, without load)
5 V: 105 mA 5 V: 120 mA24 V: 28 mA
120 mA 150 mA
Shaft Bottomed hollowed shaft 12 mm
Mech. permiss. speed n 6000 rpm
Starting torque 0.05 Nm at 20 °C
Moment of inertia of rotor 4.6 · 10–6 kgm2
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 100 °C
Min. operating temp. Fixed cable: –40 °CMoving cable: –10 °C
Protection EN 60 529 IP66
Mass 0.3 kg
Valid for ID 649989-xx 649990-xx 597330-xx 597331-xx
* Please select when ordering1) Velocity-dependent deviations between the absolute value and incremental signals2) Restricted tolerances Signal amplitudes: 0.8 VPP to 1.2 VPP
70
ERN 401 series
Incremental rotary encoders
• Stator coupling via fastening clips
• Blind hollow shaft
• Replacement for Siemens 1XP8000
• Includes installation kit with housing
Siemens
model
Replacement
model
ID
1XP8001-2 ERN 421 538724-71
1XP8001-1 ERN 431 538725-02
= Encoder bearing = Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature = Direction of shaft rotation for output signals as per the interface description
71
Incremental
ERN 421 ERN 431
Interface TTL HTL
Line counts 1024
Reference mark One
Output frequencyEdge separation a
300 kHz 0.39 µs
System accuracy 1/20 of grating period
Electrical connection Radial Binder fl ange socket
Voltage supply DC 5 V ±0.5 V DC 10 V to 30 V
Current consumption without load
120 mA 150 mA
Shaft Solid shaft with M8 external thread, 60° centering taper
Mech. permissible speed n1) 6000 rpm
Starting torque
At 20 °CBelow –20 °C
0.01 Nm 1 Nm
Moment of inertia of rotor 4.3 · 10–6 kgm2
Permissible axial motion of measured shaft
±1 mm
Vibration 55 Hz to 2000 HzShock 6 ms
100 m/s2(EN 60 068-2-6); higher values upon request 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 100 °C
Min. operating temp. –40 °C
Protection EN 60 529 IP66
Mass 0.3 kg
Valid for ID 538724-xx 538725-xx
1) For the correlation between the operating temperature and the shaft speed or supply voltage, see General mechanical information
72
ECI/EQI 1100 series
Absolute rotary encoders
• Flange for axial mounting
• Blind hollow shaft
• Without integral bearing
= Bearing of mating shaft = Measuring point for operating temperature = Measuring point for vibration① = Contact surface of slot② = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock③ = Shaft; ensure full-surface contact!④ = Slot required only for ECN/EQN and ECI/EQI with WELLA1 = 1KA⑤ = Flange surface of ECI/EQI; ensure full-surface contact!⑥ = Coupling surface of ECN/EQN⑦ = Maximum permissible deviation between shaft and coupling surface. Compensation of mounting tolerances and thermal expansion for which
±0.15 mm of dynamic axial motion is permitted⑧ = Maximum permissible deviation between shaft and fl ange surfaces. Compensation of mounting tolerances and thermal expansion⑨ = Flange surface of ECI/EBI; ensure full-surface contact!⑩ = Undercut⑪ = Possible centering hole⑫ = Opening for PCB connector min. 1.5 mm larger all around⑬ = Screw, ISO 4762 – M3x10 – 8.8 – MKL, tightening torque 1 Nm ±0.1 Nm⑭ = Screw, ISO 4762 – M3x25 – 8.8 – MKL, tightening torque 1 Nm ±0.1 Nm⑮ = Maintain a distance of at least 1 mm to the cover. Note the opening for the connector!⑯ = Positive-locking element. Ensure correct engagement in slot 4⑰ = Direction of shaft rotation for output signals as per the interface description
73
Absolute
ECI 1119 EQI 1131
Interface EnDat 2.2
Ordering designation EnDat22
Position values/revolution 524 288 (19 bits)
Revolutions – 4096 (12 bits)
Calculation time tcalClock frequency
5 µs 16 MHz
System accuracy ±120“
Electrical connection Via 15-pin PCB connector
Voltage supply DC 3.6 V to 14 V
Power consumption (max.) 3.6 V: 0.65 W14 V: 0.7 W
3.6 V: 0.7 W14 V: 0.85 W
Current consumption (typical) 5 V: 95 mA (without load) 5 V: 115 mA (without load)
Shaft* Blind hollow shaft for axial clamping 6 mm without positive lock (82A) or with positive lock (1KA)
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Moment of inertia of rotor 0.3 · 10-6 kgm2
Permissible axial motion of measured shaft
±0.4 mm
Vibration 55 Hz to 2000 HzShock 6 ms
400 m/s2 (EN 60 068-2-6)2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 110 °C
Min. operating temp. –40 °C
Trigger threshold of error message for excessive temperature
125 °C (measuring accuracy of internal temperature sensor: ± 1 K)
Protection EN 60 529 IP00 when mounted
Mass 0.04 kg
Valid for ID 826930-xx 826980-xx
* Please select when ordering Functional safety available. For dimensions and specifi cations see the Product Information document
74
ECI/EBI 1100 series
Absolute rotary encoders
• Flange for axial mounting
• Blind hollow shaft
• Without integral bearing
• EBI 1135: Multiturn function via battery-buffered revolution counter
= Bearing of mating shaft = Measuring point for operating temperature① = Contact surface of slot② = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock③ = Shaft; ensure full-surface contact!④ = Slot required only for ECN/EQN and ECI/EQI with WELLA1 = 1KA⑤ = Flange surface of ECI/EQI; ensure full-surface contact!⑥ = Coupling surface of ECN/EQN⑦ = Maximum permissible deviation between shaft and coupling surface. Compensation of mounting tolerances and thermal expansion for which
±0.15 mm of dynamic axial motion is permitted⑧ = Maximum permissible deviation between shaft and fl ange surfaces. Compensation of mounting tolerances and thermal expansion⑨ = Flange surface of ECI/EBI; ensure full-surface contact!⑩ = Undercut⑪ = Possible centering hole⑫ = Clamping surface⑬ = Screw, ISO 4762 – M3x16 – 8.8 with materially bonding anti-rotation lock, tightening torque 1.15 Nm ±0.05 Nm⑭ = Direction of shaft rotation for output signals as per the interface description
75
Absolute
ECI 1118 EBI 1135
Interface EnDat 2.2
Ordering designation EnDat221)
Position values/revolution 262 144 (18 bits) 262 144 (18 bits; 19-bit data word length with LSB = 0)
Revolutions – 65 536 (16 bits)
Calculation time tcalClock frequency
6 µs 8 MHz
System accuracy ±120“
Electrical connection Via 15-pin PCB connector
Voltage supply DC 3.6 V to 14 V Rotary encoder UP: DC 3.6 V to 14 VBackup battery UBAT: DC 3.6 V to 5.25 V
Power consumption (max.) Normal operation at 3.6 V: 0.52 WNormal operation at 14 V: 0.6 W
Current consumption (typical) 5 V: 80 mA (without load) Normal operation at 5 V: 80 mA (without load)Buffer mode2): 22 µA (with rotating shaft) 12 µA (at standstill)
Shaft Blind hollow shaft 6 mm, axial clamping
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Mech. permiss. acceleration 105 rad/s2
Moment of inertia of rotor 0.2 · 10-6 kgm2
Permissible axial motion of measured shaft
±0.3 mm
Vibration 55 Hz to 2000 HzShock 6 ms
300 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –20 °C
Protection EN 60 529 IP003)
Mass 0.02 kg
Valid for ID 728563-xx 820725-xx
1) External temperature sensor and online diagnostics are not supported. Compliance with the EnDat specifi cation 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders, is required for correct control of the encoder.
2) At T = 25 °C; UBAT = 3.6 V3) CE compliance of the complete system must be ensured by taking the correct measures during installation.
76
ECI/EQI 1300 series
Absolute rotary encoders
• Flange for axial mounting; adjusting tool required
• Taper shaft or blind hollow shaft
• Without integral bearing
All dimensions under operating conditions
= Bearing = Required mating dimensions = Measuring point for operating temperature① = Eccentric bolt. For mounting: Turn back and tighten with 2–0.5 Nm torque (Torx 15)② = 12-pin PCB connector③ = Cylinder head screw: ISO 4762 – M5x35 – 8.8, tightening torque 5 + 0.5 Nm for hollow shaft = Cylinder head screw: ISO 4762 – M5x50 – 8.8, tightening torque 5 + 0.5 Nm for taper shaft④ = Setting tool for scanning gap⑤ = Permissible scanning gap range over all conditions ⑥ = Minimum clamping and support surface; a closed diameter is best⑦ = Mounting screw for cable cover M2.5 Torx 8, tightening torque 0.4 Nm ±0.1 Nm⑧ = M6 back-off thread⑨ = Direction of shaft rotation for output signals as per the interface description
77
Absolute
ECI 1319 EQI 1331
Interface EnDat 2.2
Ordering designation EnDat01
Position values/revolution 524 288 (19 bits)
Revolutions – 4096 (12 bits)
Elec. permissible speed/Deviation1)
3750 rpm/±128 LSB15 000 rpm/± 512 LSB
4000 rpm/± 128 LSB12 000 rpm/± 512 LSB
Calculation time tcalClock frequency
8 µs 2 MHz
Incremental signals 1 VPP
Line count 32
Cutoff frequency –3 dB 6 kHz typical
System accuracy ±180“
Electrical connection Via 12-pin PCB connector
Voltage supply DC 4.75 V to 10 V
Power consumption (max.) 4.75 V: 0.62 W10 V: 0.63 W
4.75 V: 0.73 W10 V: 0.74 W
Current consumption (typical) 5 V: 85 mA (without load) 5 V: 102 mA (without load)
Shaft* Taper shaft 9.25 mm; Taper 1:10Blind hollow shaft 12.0 mm; Length 5 mm
Moment of inertia of rotor Tapered shaft: 2.1 · 10–6 kgm2
Hollow shaft: 2.8 · 10–6 kgm2
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Permissible axial motion of measured shaft
–0.2/+0.4 mm with 0.5 mm scale-to-reticle gap
Vibration 55 Hz to 2000 HzShock 6 ms
200 m/s2 (EN 60 068-2-6) 2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –20 °C
Protection EN 60 529 IP20 when mounted
Mass 0.13 kg
Valid for ID 811811-xx 811814-xx
* Please select when ordering1) Velocity-dependent deviations between the absolute and incremental signals
8
90°...120°
90°...120°
D1 D2
78
ECI/EQI 1300 series
Absolute rotary encoders
• Mounting-compatible to photoelectric rotary encoders with 07B stator coupling
• 0YA fl ange for axial mounting
• Blind hollow shaft, 12.7 mm 44C
• Without integral bearing
• Cost-optimized mating dimensions upon request
= Bearing of mating shaft = Measuring point for operating temperature = Measuring point for vibration, see also D 741714① = PCB connector, 12-pin and 4-pin② = Screw plug width A/F 3 and 4, tightening torque 5 Nm + 0.5 Nm③ = Screw, ISO 6912 – M5x30 – 08.8 – MKL SW4, tightening torque 5 Nm + 0.5 Nm④ = Screw, ISO 4762 – M4x10 – 8.8 – MKL SW3, tightening torque 2 Nm ±0.1 Nm⑤ = Functional diameter of taper for ECN/EQN 13xx⑥ = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock⑦ = Flange surface ExI/resolver; ensure full-surface contact!⑧ = Shaft; ensure full-surface contact!⑨ = Maximum permissible deviation between shaft and fl ange surfaces. Compensation of
mounting tolerances and thermal expansion. ECI/EQI: Dynamic motion permitted over entire range. ECN/EQN: No dynamic motion permitted
⑩ = M10 back-off thread⑪ = Direction of shaft rotation for output signals as per the interface description
79
Absolute
ECI 1319 EQI 1331
Interface EnDat 2.2
Ordering designation EnDat22
Position values/revolution 524 288 (19 bits)
Revolutions – 4096 (12 bits)
Elec. permissible speed/Deviation1)
15 000 rpm (for continuous position value)
Calculation time tcalClock frequency
5 µs 16 MHz
System accuracy ±65”
Electrical connection via PCB connector
Rotary encoder: 12-pinTemperature sensor:1) 4-pin
Cable length
Voltage supply DC 3.6 V to 14 V
Power consumption (max.) At 3.6 V: 0.65 WAt 14 V: 0.7 W
At 3.6 V: 0.75 WAt 14 V: 0.85 W
Current consumption (typical) At 5 V: 95 mA (without load) At 5 V: 115 mA (without load)
Shaft Blind hollow shaft for axial clamping 12.7 mm
Mech. permiss. speed n 15 000 rpm 12 000 rpm
Moment of inertia of rotor 2.6 · 10-6 kgm2
Permissible axial motion of measured shaft
±0.5 mm
Vibration 55 Hz to 2000 Hz2)
Shock 6 msStator: 400 m/s2; Rotor: 600 m/s2 (EN 60 068-2-6) 2000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –40 °C
Trigger threshold of error message for excessive temperature
130 °C (measuring accuracy of internal temperature sensor: ±1 K)
Protection EN 60 529 IP20 when mounted
Mass 0.13 kg
Valid for ID 810661-xx 810662-xx
1) Evaluation optimized for KTY 84-1302) 10 Hz to 55 Hz constant over distance 4.9 mm peak to peak Functional safety available. For dimensions and specifi cations see the Product Information document
80
ECI/EBI 100 series
Absolute rotary encoders
• Flange for axial mounting
• Hollow through shaft
• Without integral bearing
• EBI 135: Multiturn function via battery-buffered revolution counter
= Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature① = Cylinder head screw, ISO 4762-M3 with washer ISO 7092 (3x). Tightening torque 0.9 Nm ±0.05 Nm② = Width A/F 2.0 (6x). Evenly tighten crosswise with increasing tightening torque; fi nal tightening torque 0.5 Nm ±0.05 Nm③ = Shaft detent: For function, see Mounting Instructions④ = PCB connector 15-pin⑤ = Compensation of mounting tolerances and thermal expansion, no dynamic motion⑥ = Protection against contact as per EN 60 529⑦ = Required up to max. 92 mm⑧ = Required mounting frame for output cable with cable clamp (accessory). Bending radius of connecting wires min. R3⑨ = Direction of shaft rotation for output signals as per the interface description
81
Absolute
ECI 119 EBI 135
Interface* EnDat 2.1 EnDat 2.2 EnDat 2.2
Ordering designation EnDat01 EnDat221) EnDat221)
Position values/revolution 524 288 (19 bits)
Revolutions – 65 536 (16 bits)2)
Elec. permissible speed/Deviation3)
3000 rpm/±128 LSB 6000 rpm/±256 LSB
6000 rpm (for continuous position value)
Calculation time tcalClock frequency
8 µs 2 MHz
6 µs 16 MHz
Incremental signals 1 VPP – –
Line count 32 – –
Cutoff frequency –3 dB 6 kHz typical – –
System accuracy ±90“
Electrical connection via PCB connector
15-pin 15-pin (with connection for temperature sensor5))
Voltage supply DC 3.6 V to 14 V Rotary encoders UP: DC 3.6 V to 14 VBuffer battery UBAT: DC 3.6 V to 5.25 V
Power consumption (max.) 3.6 V: 0.58 W14 V: 0.7 W
Normal operation at 3.6 V: 0.53 WNormal operation at 14 V: 0.63 W
Current consumption (typical) 5 V: 80 mA (without load)
5 V: 75 mA (without load)
Normal operation at 5 V: 75 mA (without load)Buffer mode4): 25 µA (with rotating shaft)
12 µA (at standstill)
Shaft* Hollow through shaft D = 30 mm, 38 mm, 50 mm
Mech. permiss. speed n 6000 rpm
Moment of inertia of rotor D = 30 mm: 64 · 10–6 kgm2
D = 38 mm: 58 · 10–6 kgm2
D = 50 mm: 64 · 10–6 kgm2
Permissible axial motion of measured shaft
±0.3 mm
Vibration 55 Hz to 2000 Hz6)
Shock 6 ms 300 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 115 °C
Min. operating temp. –20 °C
Protection EN 60 529 IP20 when mounted7)
Mass D = 30 mm: 0.19 kgD = 38 mm: 0.16 kgD = 50 mm: 0.14 kg
Valid for ID 823406-xx 823407-xx 823405-xx
* Please select when ordering1) Valuation numbers are not supported2) Compliance with the EnDat specifi cation 297 403 and the EnDat Application
Notes 722 024, Chapter 13, Battery-buffered encoders, is required for correct control of the encoder.
3) Velocity-dependent deviations between the absolute and incremental signals4) At T = 25 °C; UBAT = 3.6 V
5) Evaluation optimized for KTY 84-1306) 10 to 55 Hz constant over distance 4.9 mm peak
to peak7) CE compliance of the complete system must be
ensured by taking the correct measures during installation.
D
10h6
12h6
Z a f c
ERO 1225 1024 0.4 ±0.2 0.05 0.02
2048 0.2 ±0.05
ERO 1285 10242048
0.2 ±0.03 0.03 0.02
82
ERO 1200 series
Incremental rotary encoders
• Flange for axial mounting
• Hollow through shaft
• Without integral bearing
= Bearing = Required mating dimensions = Measuring point for operating temperature① = Circular scale with hub② = Offset screwdriver, ISO 2936 – 2.5 (I2 shortened)③ = Direction of shaft rotation for output signals as per the interface description
83
Incremental
ERO 1225 ERO 1285
Interface TTL 1 VPP
Line count* 1024 2048
Accuracy of graduation2) ±6"
Reference mark One
Output frequencyEdge separation aCutoff frequency –3 dB
300 kHz 0.39 µs–
–– 180 kHz typical
System accuracy1) 1024 lines: ±92“
2048 lines: ±73“1024 lines: ±67“2048 lines: ±60“
Electrical connection Via 12-pin PCB connector
Voltage supply DC 5 V ±0.5 V
Current consumption (without load)
150 mA
Shaft* Hollow through shaft D = 10 mm oder D = 12 mm
Moment of inertia of rotor Shaft diameter 10 mm: 2.2 · 10–6 kgm2
Shaft diameter 12 mm: 2.2 · 10–6 kgm2
Mech. permiss. speed n 25 000 rpm
Permissible axial motion of measured shaft
1024 lines: ±0.2 mm2048 lines: ±0.05 mm
±0.03 mm
Vibration 55 Hz to 2000 HzShock 6 ms
100 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 100 °C
Min. operating temp. –40 °C
Protection EN 60 529 IP003)
Mass 0.07 kg
Valid for ID 1037519-xx 1037520-xx
* Please select when ordering1) Before installation. Additional errors caused by mounting inaccuracy and inaccuracy from the bearing of the drive shaft are not included2) For other errors, see Measuring accuracy3) CE compliance of the complete system must be ensured by taking the correct measures during installation.
84
ERO 1400 series
Incremental rotary encoders
• Flange for axial mounting
• Hollow through shaft
• Without integral bearing; self-centering
With cable outlet
With axial PCB connector
Axial PCB connector and round cable Axial PCB connector and ribbon cable
= Bearing of mating shaft = Required mating dimensions = Accessory: Round cable = Accessory: Ribbon cable = Setscrew, 2x90° offset M3 SW1.5 Md = 0.25 Nm ±0.05 Nm = Version for repeated mounting = Version featuring housing with central hole (accessory) = Direction of shaft rotation for output signals as per the interface description
Bend radius R Fixed cable Frequent
fl exing
Ribbon cable R 2 mm R 10 mm
L 13+4.5/–3 10 min.
a b D
ERO 1420 0.03 ±0.1 4h6
ERO 1470 0.02 ±0.05 6h6
ERO 1480 8h6
85
Incremental
ERO 1420 ERO 1470 ERO 1480
Interface TTL 1 VPP
Line count* 5121000
1024
1000
15005121000
1024
Integrated interpolation* – 5-fold 10-fold 20-fold 25-fold –
Signal periods/revolution 51210001024
50007500
10 00015 000
20 00030 000
25 00037 500
51210001024
Edge separation a 0.39 µs 0.47 µs 0.22 µs 0.17 µs 0.07 µs –
Scanning frequency 300 kHz 100 kHz 62.5 kHz 100 kHz –
Cutoff frequency –3 dB – 180 kHz
Reference mark One
System accuracy1) 512 lines: ±139“
1000 lines: ±112“1024 lines: ±112“
1000 lines: ±130“1500 lines: ±114“
512 lines: ±190“1000 lines: ±163“1024 lines: ±163“
Electrical connection* Via PCB connector, 12-pin, axial3)
Voltage supply DC 5 V ±0.5 V DC 5 V ± 0.25 V DC 5 V ± 0.5 V
Current consumption (without load)
150 mA 155 mA 200 mA 150 mA
Shaft* Blind hollow shaft D= 4 mm; D = 6 mm or D= 8 mm or hollow through shaft in housing with bore (accessory)
Moment of inertia of rotor Shaft diameter 4 mm: 0.28 · 10–6 kgm2
Shaft diameter 6 mm: 0.27 · 10–6 kgm2
Shaft diameter 8 mm: 0.25 · 10–6 kgm2
Mech. permiss. speed n 30 000 rpm
Permissible axial motion of measured shaft
±0.1 mm ±0.05 mm
Vibration 55 Hz to 2000 HzShock 6 ms
100 m/s2 (EN 60 068-2-6) 1000 m/s2 (EN 60 068-2-27)
Max. operating temp. 70 °C
Min. operating temp. –10 °C
Protection EN 60 529 With PCB connector: IP002)
With cable outlet: IP40
Mass 0.07 kg
Valid for ID 360731-xx 360736-xx 360737-xx
Bold: These preferred versions are available on short notice* Please select when ordering1) Before installation. Additional errors caused by mounting inaccuracy and inaccuracy from the bearing of the drive shaft are not included2) CE compliance of the complete system must be ensured by taking the correct measures during installation.3) Cable 1 m, radial, without connecting element (not with ERO 1470) upon request
12
12
12
12
86
Pin layout
12-pin coupling M23 15-pin D-sub connector for PWM 20 12-pin PCB connector
Voltage supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 9 7 /
4 12 2 10 1 9 3 11 14 7 5/6/8/15 13 /
2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3b 3a /
UP Sensor1)
UP
0 V Sensor1)
0 VA+ A– B+ B– R+ R– Vacant Vacant Vacant
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black / Violet Yellow
Output cable for ERN 1381 in the
motor
ID 667343-01
17-pin
fl ange socket M2312-pin PCB connector
Voltage supply Incremental signals Other signals
7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/
14/17
2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b
UP Sensor
UP
0 V Sensor
0VA+ A– B+ B– R+ R– T+
2)T–
2)Vacant
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black Brown2) White2) /
Cable shield connected with housing; UP = Power supply; 1) LIDA 2xx: vacant; 2) Only for encoder cable inside the motor housing
Sensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.
Signal period360° elec.
(rated value)
A, B, R measured with oscilloscope in differential mode
Interfaces
Incremental signals 1 VPP
HEIDENHAIN encoders with 1 VPP interface provide voltage signals that can be highly interpolated.
The sinusoidal incremental signals A and B are phase-shifted by 90° elec. and have amplitudes of typically 1 VPP. The illustrated sequence of output signals—with B lagging A—applies for the direction of motion shown in the dimension drawing.
The reference mark signal R has an unambiguous assignment to the incremental signals. The output signal might be somewhat lower next to the reference mark.
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
Alternative signal shape
12
12
87
Ele
ctr
ical co
nn
ecti
on
Incremental signals TTL
HEIDENHAIN encoders with TTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation.
The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90° elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals. In addition, the integrated electronics produce their inverse signals , and for noise-proof transmission. The illustrated sequence of output signals—with Ua2 lagging Ua1—applies to the direction of motion shown in the dimension drawing.
The fault detection signal indicates fault conditions such as an interruption in the supply lines, failure of the light source, etc.
Signal period 360° elec. Fault
Measuring step after
4-fold evaluation
Inverted signals , , are not shown
The distance between two successive edges of the incremental signals Ua1 and Ua2 through 1-fold, 2-fold or 4-fold evaluation is one measuring step.
Pin layout
12-pin fl ange socket or
coupling, M2312-pin connector M23
15-pin D-sub connector
For IK 215/PWM 2012-pin PCB connector
Voltage supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 7 / 9
4 12 2 10 1 9 3 11 14 7 13 5/6/8 15
2a 2b1)
1a 1b1)
6b 6a 5b 5a 4b 4a 3a 3b /
UP Sensor
UP
0 V Sensor
0 VUa1 Ua2 Ua0 1)
Vacant Vacant2)
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black Violet / Yellow
Cable shield connected to housing; UP = Power supply voltageSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.1)
ERO 14xx: vacant2)
Exposed linear encoders: TTL/11 µAPP switchover for PWT, otherwise vacant
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
12
12
CBDA L
MK E
GHFJ
88
Pin layout
Output cable for ERN 1321 in the
motor
ID 667343-01
17-pin fl ange socket M23 12-pin PCB connector
Voltage supply Incremental signals Other signals
7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/
14/17
2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b
UP Sensor
UP
0 V Sensor
0VUa1 Ua2 Ua0 T+
1)T–
1)Vacant
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black Brown1) White1) /
ERN 421 pin layout
12-pin Binder fl ange socket
Voltage supply Incremental signals Other signals
M B K L E F H A C D G J
UP Sensor
UP
0 V Sensor
0 VUa1 Ua2 Ua0 Vacant
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black Violet Yellow
Cable shield connected to housing; UP = Power supply voltageSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.1) Only for cables inside the motor housing
CBDA L
MK E
GHFJ
89
ERN 431 pin layout
12-pin Binder fl ange socket
Voltage supply Incremental signals Other signals
M B K L E F H A C D G J
UP Sensor
UP
0 V Sensor
0 VUa1 Ua2 Ua0 Vacant
Brown/Green
Blue White/Green
White Brown Green Gray Pink Red Black Violet Yellow
Cable shield connected to housing; UP = Power supply voltageSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
HEIDENHAIN encoders with HTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation.
The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90° elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals. In addition, the integrated electronics produce their inverted signals , and for noise-proof transmission (not with HTLs). The illustrated sequence of output signals—with Ua2 lagging Ua1—applies to the direction of motion shown in the dimension drawing.
The fault detection signal indicates fault conditions, for example a failure of the light source.
The distance between two successive edges of the incremental signals Ua1 and Ua2 through 1-fold, 2-fold or 4-fold evaluation is one measuring step.
Incremental signals HTL, HTLs
Signal period 360° elec. Fault
Measuring step after
4-fold evaluation
Inverted signals , , are not shown
16 15
16
15
16
15
90
ERN 1123, ERN 1326 pin layout
17-pin
fl ange socket
M23
16-pin PCB connector 15-pin PCB connector
Voltage supply Incremental signals
7 1 10 11 15 16 12 13 3 2
1b 2b 1a / 5b 5a 4b 4a 3b 3a
13 / 14 / 1 2 3 4 5 6
UP Sensor
UP
0 V Internal
shield
Ua1 Ua2 Ua0
Brown/Green
Blue White/Green
/ Green/Black
Yellow/Black
Blue/Black
Red/Black
Red Black
Other signals Cable shield connected to housingUP = Power supply voltageSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.
4 5 6 14 17 9 8
2a 8b 8a 6b 6a 7b 7a
/ 7 8 9 10 11 12
U U V V W W
White Green Brown Yellow Violet Gray Pink
Pin layout for ERN 1023
Voltage supply Incremental signals Other signals
UP 0 V Ua1 Ua2 Ua0 U U V V W W
White Black Red Pink Olive Green
Blue Yellow Orange Beige Brown Green Gray Light Blue
Violet
Cable shield connected to housingUP = Power supply voltageVacant pins or wires must not be used.
Commutation signals for block commutation
The block commutation signals U, V and
W are derived from three separate absolute tracks. They are transmitted as square-wave signals in TTL levels.
The ERN 1x23 and ERN 1326 are rotary encoders with commutation signals for block commutation.
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
91
Commutation signals for sinusoidal commutation
The commutation signals C and D are taken from the Z1 track, and are equal to one sine or cosine period per revolution. They have a signal amplitude of typically 1 VPP at 1 k.
The input circuitry of the subsequent electronics is the same as for the 1 VPP interface. The required terminating resistance Z0, however, is 1 k instead of 120 .
Pin layout
17-pin
coupling or
fl ange socket M23
14-pin PCB connector
Voltage supply Incremental signals
7 1 10 4 11 15 16 12 13 3 2
1b 7a 5b 3a / 6b 2a 3b 5a 4b 4a
UP Sensor
UP
0 V Sensor
0 VInternal
shield
A+ A– B+ B– R+ R–
Brown/Green
Blue White/Green
White / Green/Black
Yellow/Black
Blue/Black
Red/Black
Red Black
Other signals
14 17 9 8 5 6
7b 1a 2b 6a / /
C+ C– D+ D– T+1)
T–1)
Gray Pink Yellow Violet Green Brown
Cable shield connected to housingUP = Power supply; T = TemperatureSensor: The sensor line is connected internally with the corresponding power line.Vacant pins or wires must not be used.1) Only for cables inside the motor housing
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
The ERN 1387 is a rotary encoder with output signals for sinusoidal commutation.
12
15
12
15
12 15
92
Position values
The EnDat interface is a digital, bidirectional interface for encoders. It is capable of transmitting position values as well as transmitting or updating information stored in the encoder, or saving new information. Thanks to the serial
transmission method, only four signal
lines are required. The DATA is transmitted in synchronism with the CLOCK signal from the subsequent electronics. The type of transmission (position values, parameters, diagnostics ...) is selected by mode commands that the subsequent electronics send to the encoder. Some functions are available only with EnDat 2.2 mode commands.
Absolute encoder Subsequent electronics
Operating parameters
Operating condition
Parameters of the OEM
Parameters of the encoder manufacturer for
EnDat 2.1 EnDat 2.2
Absolute position value En
Dat
inte
rfac
e
Incremental signals *)
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
Pin layout for EnDat01/EnDat02
17-pin coupling or fl ange socket M23 12-pin
PCB connector
15-pin
PCB connector
Power supply voltage Incremental signals 1) Position values
7 1 10 4 11 15 16 12 13 14 17 8 9
1b 6a 4b 3a / 2a 5b 4a 3b 6b 1a 2b 5a
13 11 14 12 / 1 2 3 4 7 8 9 10
UP Sensor
UP
0 V Sensor
0 VInternal
shield
A+ A– B+ B– DATA DATA CLOCK CLOCK
Brown/Green
Blue White/Green
White / Green/Black
Yellow/Black
Blue/Black
Red/Black
Gray Pink Violet Yellow
Other signals Cable shield connected to housing; UP = Power supply voltage; T = TemperatureSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.1) Only with ordering designations EnDat 01 and EnDat 022) Only for cables inside the motor housing
5 6
/ /
/ /
T+2)
T–2)
Brown2) White2)
Ordering designation Command set Incremental signals
EnDat01
EnDat HEnDat T
EnDat 2.1 or EnDat 2.2 1 VPPHTLTTL
EnDat21 –
EnDat02 EnDat 2.2 1 VPP
EnDat22 EnDat 2.2 –
Versions of the EnDat interface
A/Ua1*)
B/Ua2*)
*) Depends on encoder1 VPP, HTL or TTL
4 12 15
12
15
M23
M12
4
15
15
M12
M23
93
Pin layout for EnDat21/EnDat22
8-pin coupling
or
fl ange socket, M12
9-pin
fl ange socket
M23
4-pin
PCB connector
12-pin
PCB connector
15-pin
PCB connector
Power supply voltage Position values Other signals
8 2 5 1 3 4 7 6 / /
3 7 4 8 5 6 1 2 / /
/ / / / / / / / 1a 1b
1b 6a 4b 3a 6b 1a 2b 5a / /
13 11 14 12 7 8 9 10 5 6
UP Sensor
UP1)
0 V Sensor
0 V1)DATA DATA CLOCK CLOCK T+
2)T–
2)
Brown/Green
Blue White/Green
White Gray Pink Violet Yellow Brown Green
Cable shield connected to housing; UP = Power supply voltage; T = TemperatureSensor: The sensor line is connected in the encoder with the corresponding power line.Vacant pins or wires must not be used.1)
ECI 1118 EnDat22: Vacant 2) Only EnDat22, except ECI 1118
Pin layout of EBI 135/EBI 1135
15-pin PCB connector
8-pin fl ange socket, M12 9-pin fl ange socket M23
Power supply voltage Position values Other signals1)
13 11 14 12 7 8 9 10 5 6
8 2 5 1 3 4 7 6 / /
3 7 4 8 5 6 1 2 / /
UP UBAT 0 V2)
0 VBAT2)
DATA DATA CLOCK CLOCK T+ T–
Brown/Green
Blue White/Green
White Gray Pink Violet Yellow Brown Green
UP = Power supply; UBAT = External buffer battery (false polarity can result in damage to the encoder)Vacant pins or wires must not be used.1) Only for EBI 1352) Connected inside encoder
12
4
15
78
ED A
BC
1 2
36
45
K
E
X
X
4 12 15
94
Pin layout
HMC 6 fl ange socket
4-pin
PCB connector
12-pin
PCB connector
15-pin
PCB connector
Encoder
Power supply voltage Position values Other signals
1 2 3 4 5 6 / /
/ / / / / / 1a 1b
1b 4b 6b 1a 2b 5a / /
13 14 7 8 9 10 5 6
UP 0 V DATA DATA CLOCK CLOCK T+1)
T–1)
Brown/Green White/Green Gray Pink Violet Yellow Brown Green
Motor
Brake Power
7 8 A B C D E
BRAKE– BRAKE+ U V W / PE
White White/Black Blue Brown Black / Yellow/Green
External shield of the encoder output cable on communication element housing K.
Vacant pins or wires must not be used.1) Except for ECI 1118
Travel range
412
M12
M23
12
4
95
Siemens pin layout
8-pin fl ange socket, M12 9-pin right-angle socket, M23
12-pin PCB connector 4-pin PCB connector
Voltage supply Absolute position values Other signals1)
1 5 3 4 7 6 / /
8 4 5 6 1 2 / /
3a 4b 6b 1a 2b 5a / /
/ / / / / / 1a 1b
UP 0 V RXP RXN TXP TXN T+2)
T–2)
White White/Green Gray Pink Violet Yellow Brown Green
Cable shield connected to housing; UP = Power supply voltageVacant pins or wires must not be used.Encoder cables with a cable length > 0.5 m require strain relief of the cable1) Only for cables inside the motor housing2) Connections for external temperature sensor; evaluation optimized for KTY 84-130 (see Temperature measurement in motors in the
Encoders for Servo Drives catalog
DRIVE-CLiQ interface
HEIDENHAIN encoders with the code letter S after the model designation are suited for connection to Siemens controls with DRIVE-CLiQ interface
• Ordering designation DQ01
DRIVE-CLiQ is a registered trademarkof SIEMENS AG.
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
96
Connection to the buffer battery
The multiturn function of the EBI 135 and EBI 1135 is realized through a revolution counter. To prevent loss of the absolute position information during power failure, the EBI must be operated with an external buffer battery.
A lithium-thionyl chloride battery with 3.6 V and 1200 mAh is recommended as buffer battery. The typical service life is over nine years with appropriate conditions (two shifts of ten hours each in normal opera-tion; battery temperature 25 °C; typical self-discharging). To achieve this, the main power supply (UP) must be connected to the encoder while connecting the backup battery, or directly thereafter, in order for the encoder to become fully initialized after having been completely powerless. Other-wise the encoder will consume a signifi -cantly higher amount of battery current un-til main power is supplied the fi rst time.
Ensure correct polarity of the buffer battery in order to avoid damage to the encoder. HEIDENHAIN recommends operating each encoder with its own backup battery.
If the application requires compliance with DIN EN 60 086-4 or UL 1642, an appropriate protective circuit is required for protection from wiring errors.
If the voltage of the buffer battery falls below certain thresholds, the encoder will set warning or error messages that are transmitted via the EnDat interface:• “Battery charge” warning
2.8 V ±0.2 Vin normal operating mode
• “M power failure” error message
2.2 V ±0.2 Vin battery buffered operating mode (encoder must be re-referenced)
The EBI uses low battery current even during normal operation. The amount of current depends on the operating temperature.
Please note:
Compliance with the EnDat specifi cation 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders, is required for correct control of the encoder.
Encoder Subsequent electronics
Normal operation at UBAT = 3.6 V
Operating temperature in °C
Batt
ery
cu
rren
t in
µA
Typical discharge current in normal operation
① = Protective circuit
EBI 135/EBI 1135 – external buffer battery
97
SSI position values
The position value, beginning with the most signifi cant bit (MSB), is transferred over the data lines (DATA) in synchronism with a CLOCK signal from the control. The SSI standard data word length for singleturn encoders is 13 bits, and for multiturn encoders 25 bits. In addition to the absolute position values, incremental
signals can also be transmitted. For signal description, see 1 VPP Incremental Signals.
The following functions can be activated through programming inputs:• Direction of rotation
• Zero reset (setting to zero)
Pin layout
17-pin coupling, M23
Voltage supply Incremental signals Position values Other signals
7 1 10 4 11 15 16 12 13 14 17 8 9 2 5
UP Sensor
UP
0 V Sensor
0 VInternal
shield1)
A+ A– B+ B– DATA DATA CLOCK CLOCK Direc-
tion of
rotation
Zero
Brown/Green
Blue White/Green
White / Green/Black
Yellow/Black
Blue/Black
Red/Black
Gray Pink Violet Yellow Black Green
Shield on housing; UP = Power supplySensor: With a 5 V supply voltage, the sensor line is connected in the encoder with the corresponding power line.1) Vacant for ECN/EQN 10xx and ROC/ROQ 10xx
For comprehensive descriptions of all available interfaces as well as general electrical information, see the Interfaces of HEIDENHAIN Encoders brochure, ID 1078628-xx.
Data transfer
T = 1 to 10 µstcal See Specifi cationst1 0.4 µs
(without cable)t2 = 17 to 20 µstR 5 µsn = Data word length
13 bits for ECN/ROC25 bits for EQN/ROQ
CLOCK and DATA not shown
M23
M23
M23
M23
M12
M12
M23
L
9.5 mm – 14.5 mm 78
14 mm – 17 mm 80.5
L
9.5 mm – 14.5 mm 78
14 mm – 17 mm 80.5
98
Connecting elements and cables
General information and dimensions
Connector insulated: Connecting element with coupling ring, available with male or female contacts (see symbols).
Symbols
Coupling insulated: Connecting element with outside thread, available with male or female contacts (see Symbols).
Symbols
Mounted coupling
with central fastening
Mounted coupling
with fl ange
Cutout for mounting
M12
right-angle
connector
Flange socket: With external thread; permanently mounted on a housing, available with male or female contacts.
Symbols
HMC 6
Required mating dimensions for fl ange
socket
① = At least 4 mm of load-bearing thread length
99
The pin numbering on connectors is in the direction opposite to those on couplings or fl ange sockets, regardless of whether the connecting elements have
male contacts or
female contacts.
When engaged, the connections provide protection to IP67 (D-sub connector: IP50; EN 60 529). When not engaged, there is no protection.
D-sub connector for HEIDENHAIN controls, counters and IK absolute value cards.
Symbols
Accessories for fl ange sockets and M23
mounted couplings
Threaded metal dust cap
ID 219926-01
1) Interface electronics integrated in connector
M23 right-angle fl ange socket
(rotatable) with motor-internal encoder cable
M12 fl ange socket
With motor-internal encoder cableFor DRIVE-CLiQ interface
M23 SpeedTEC angle fl ange socket
(rotatable) with motor-internal encoder cable
M12 fl ange socket
With motor-internal encoder cableFor EnDat21/22 interface
Travel range
Travel range
Required mating dimensions for M12 and M23 fl ange sockets
① = At least 4 mm of load-bearing thread length
DRIVE-CLiQ is a registered trademark of SIEMENS AG.
Encoder cables with SpeedTEC right-angle fl ange socket are always delivered with a mounted O-ring for vibration protection. This makes it possible to use them for a connecting cable with either a threaded connector (with O-ring) or a SpeedTEC connector (O-ring needs to be removed).
SpeedTEC is a registered trademark of Intercontec Pfeiffer Industriesteckverbindungen GmbH.
100
Cables inside the motor housing
Cable diameter: 4.5 mm, 3.7 mm or TPE single wire with shrink-wrap or braided sleeving.
Cable length: Available in fi xed length increments up to the specifi ed maximum length.
Complete with PCB connector and angle fl ange socket, M23, 17-pin; wires for temperature sensor are cross-linked polyolefi n 2 · 0.25 mm2
Complete with PCB connector and angle fl ange socket, M23, 9-pin; wires for temperature sensor are TPE 2 · 0.16 mm2
Rotary
encoder
Interface PCB connector Crimp sleeve
ECI 119 EnDat01 15-pin – – –
ECI 119 EnDat22 15-pin – – 1120947-xx1) 5) (length · · + 4 · 0.06 mm2
EBI 135 EnDat22 15-pin – –
ECI 1119
EQI 1131
EnDat22 15-pin – – –
ECI 1118 EnDat22 15-pin – – –
EBI 1135 EnDat22 15-pin – – –
ECI 1319
EQI 1331
EnDat01 12-pin 6 mm 332201-xx (length 0.3 m)EPG 16 · 0.06 mm2
–
EnDat22 16-pin or
12-pin plus 4-pin
6 mm – 1120948-xx5) (length 0.3 m)· · + 4 · 0.06 mm2
ECN 1113
EQN 1125
EnDat01 15-pin 4.5 mm 606079-xx (length 0.3 m)EPG 16 · 0.06 mm2
–
ECN 1123
EQN 1135
EnDat22 15-pin 4.5 mm – –
ECN 1313
EQN 1325
EnDat01 12-pin 6 mm 332201-xx (length 0.3 m)EPG 16 · 0.06 mm2
–
Cables inside the motor housing
Note: CE compliance in the complete system must be ensured for the encoder cable. The shielding connection must be realized on the motor.
SpeedTEC is a registered trademark of Intercontec Pfeiffer Industriesteckverbindungen GmbH.
101
Complete with PCB connector and fl ange socket, M12, 8-pin (TPC single wires with braided sleeving and without shield; wires for temperature sensor are TPE 2 · 0.16 mm2
With one PCB connector (free cable end or cable is cut off); wires for TPE temperature sensor 2 · 0.16 mm2
Complete for HMC 6 with PCB connector and communication element; wires for TPE temperature sensor 2 · 0.16 mm2
– 640067-xx1) 3) (length 2 m)EPG 16 · 0.06 mm2
–
– 825855-xx1) 3) (length 2 m)· ·
1116479-xx1) (length 2 m)· · + 4 · 0.06 mm2
1072652-xx1) (length 0.3 m)· · + 4 · 0.06 mm2
– –
1119952-xx (length 0.3 m)TPE 8 · 0.16 mm2
1119958-xx (length 0.15 m)TPE 8 · 0.16 mm2
1072652-xx1) (length 0.3 m)· · + 4 · 0.06 mm2
805320-xx3) (length 0.3 m)TPE 6 · 0.16 mm2
735784-xx2) 3)(length 0.15 m)TPE 6 · 0.16 mm2
804201-xx3) (length 0.3 m)TPE 8 · 0.16 mm2
640055-xx2) 3)(length 0.15 m)TPE 8 · 0.16 mm2
–
– 332202-xx3) (length 2 m)EPG 16 · 0.06 mm2
–
1117280-xx (length 0.3 m)TPE 8 · 0.16 mm2
1108076-xx (length 2 m)· · + 4 · 0.06 mm2
1100199-xx3) (length 0.3 m)· 0.16 mm2
1143830-xx (length 0.3 m)· 0.16 mm2
1035387-xx (length 0.3 m)· · + 4 · 0.06 mm2
– 605090-xx3) (length 2 m)EPG 16 · 0.06 mm2
–
1117412-xx (length 0.3 m)TPE 8 · 0.16 mm2
1108078-xx (length 2 m)· · + 4 · 0.06 mm2
1035857-xx (length 0.3 m)· · + 4 · 0.06 mm2
– 332202-xx3) (length 2 m)EPG 16 · 0.06 mm2
–
1) With cable clamp for shielding connection2) Single wires with heat-shrink tubing (without shielding)3) Without connections for temperature sensor4) Note max. temperature, see the brochure Interfaces of HEIDENHAIN Encoders5) SpeedTEC right-angle fl ange socket with O-ring for vibration protection, male (for threaded connector with O-ring; for SpeedTEC
connector, remove O-ring)6) You can fi nd more information on the HMC 6 in the Product information document HMC 67) Shield only on one side
102
Cables inside the motor housing
Cable diameter: 4.5 mm, 3.7 mm or TPE single wire with shrink-wrap or braided sleeving.
Cable length: Available in fi xed length increments up to the specifi ed maximum length.
Complete with PCB connector and angle fl ange socket, M23, 17-pin; wires for temperature sensor are cross-linked polyolefi n 2 · 0.25 mm2
Complete with PCB connector and angle fl ange socket, M23, 9-pin; wires for temperature sensor are TPE 2 · 0.16 mm2
Rotary
encoder
Interface PCB connector Crimp sleeve
ECN 1324 S
EQN 1336 S
DRIVE-CLiQ 16-pin or
12-pin plus 4-pin
6 mm – 1120945-xx5) (length 0.3 m) · + 4 · 0.06 mm2
ECN 1325
EQN 1337
EnDat22 16-pin or
12-pin plus 4-pin
6 mm – 1120948-xx5) (length 0.3 m) · +4 · 0.06 mm2
ERN 1123 TTL 15-pin – – –
ERN 1321
ERN 1381
TTL
1 VPP
12-pin 6 mm 667343-xx (length 0.3 m)EPG 16 · 0.06 mm2
–
ERN 1326 TTL 16-pin 6 mm – –
ERN 1387 1 VPP 14-pin 6 mm 332199-xx (length 0.3 m)EPG 16 · 0.06 mm2
–
ERO 1225
ERO 1285
TTL
1 VPP
12-pin 4.5 mm – –
ERO 1420
ERO 1470
ERO 1480
TTL
TTL
1 VPP
12-pin 4.5 mm – –
Note: CE compliance in the complete system must be ensured for the encoder cable. The shielding connection must be realized on the motor.
DRIVE-CLiQ is a registered trademark of SIEMENS AG.SpeedTEC is a registered trademark of Intercontec Pfeiffer Industriesteckverbindungen GmbH.
103
Complete with PCB connector and fl ange socket, M12, 8-pin (TPC single wires with braided sleeving and without shield; wires for temperature sensor are TPE 2 · 0.16 mm2
With one PCB connector (free cable end or cable is cut off); wires for TPE temperature sensor 2 · 0.16 mm2
Complete for HMC 6 with PCB connector and communication element; wires for TPE temperature sensor 2 · 0.16 mm2
1181373-xx7) (length 0.3 m) · + 4 · 0.06 mm2
– –
1117280-xx (length 0.3 m)TPE 8 · 0.16 mm2
1108076-xx (length 2 m) · + 4 · 0.06 mm2
1100199-xx3) (length 0.3 m)0.16 mm2
1143830-xx3) (length 0.3 m)0.16 mm2
1035387-xx (length 0.3 m) · + 4 · 0.06 mm2
– 738976-xx2) 3) (length 0.15 m)TPE 14 · 0.16 mm2
–
– 333276-xx3) (length 6 m)EPG 16 · 0.06 mm2
–
– 341369-xx3) (length 6 m)EPG 16 · 0.06 mm2
–
– 332200-xx3) (length 6 m)EPG 16 · 0.06 mm2
–
– 372164-xx3) 4) (length 6 m)PUR [4(2 · 0.05 mm2) + (4 · 0.14 mm2)]
–
– 346439-xx3) 4) (length 6 m)PUR [4(2 · 0.05 mm2) + (4 · 0.14 mm2)]
–
1) With cable clamp for shielding connection2) Single wires with heat-shrink tubing (without shielding)3) Without separate connections for temperature sensor4) Note max. temperature, see the brochure Interfaces of HEIDENHAIN Encoders5) SpeedTEC right-angle fl ange socket with O-ring for vibration protection, male (for threaded connector with O-ring; for
SpeedTEC connector, remove O-ring)6) You can fi nd more information on the HMC 6 in the Product information document HMC 67) Shield only on one side
104
PUR connecting cable [4(2 · 0.14 mm2) + (4 · 0.5 mm2)]; AP = 0.5 mm2 8 mm 1 VPP
TTL
Complete with connector (female), and coupling (male)
298401-xx
Complete with connector (female), and connector (male)
298399-xx
Complete with connector (female) and D-sub connector (female), 15-pin, for TNC
310199-xx
Complete with connector (female) and 15-pin D-sub connector (male),for PWM 20/EIB 741
310196-xx
With one connector (female) 309777-xx
Cable only 816317-xx
Mating element on connecting cable to
connector on encoder cable
Connector (female) For cable 8 mm 291697-05
Connector on cable for connection to subsequent electronics
Connector (male) For cable 8 mm 6 mm
291697-08291697-07
Coupling on connecting cable Coupling (male) For cable 4.5 mm 6 mm 8 mm
291698-14291698-03291698-04
Flange socket for mountingon subsequent electronics
Flange socket (female) 315892-08
Mounted couplings
With fl ange (female) 6 mm 8 mm
291698-17291698-07
With fl ange (male) 6 mm 8 mm
291698-08291698-31
With central fastening (male) 6 mm to 10 mm 741045-01
Adapter 1 VPP/11 µAPP
For converting the 1 VPP signals to 11 µAPP; M23 connector (female), 12-pin and M23 connector (male), 9-pin
364914-01
AP: Cross section of power supply lines
Connecting cables 1 VPP, TTL 12-pin M23
105
PUR connecting cables
8-pin: [1(4 · 0.14 mm2) + (4 · 0.34 mm2)]; AP = 0.34 mm2
17-pin: [(4 · 0.14 mm2) + 4(2 · 0.14 mm2) + (4 · 0.5 mm2)]; AP = 0.5 mm2
EnDat withoutincremental signals
EnDat withincremental signalsSSI
Cable diameter 6 mm 3.7 mm 8 mm
Complete with connector (female) and coupling (male)
368330-xx 801142-xx 323897-xx340302-xx
Complete with right-angle connector (female) and coupling (male)
373289-xx 801149-xx –
Complete with connector (female) and D-sub connector (female), 15-pin, for TNC (position inputs)
533627-xx – 332115-xx
Complete with connector (female) and D-sub connector (female), 25-pin, for TNC (speed inputs)
641926-xx – 336376-xx
Complete with connector (female) and D-sub connector (male), 15-pin, for IK 215, PWM 20, EIB 741, etc.
524599-xx 801129-xx 324544-xx
Complete with right-angle connector (female) and D-sub connector (male), 15-pin, for IK 215, PWM 20, EIB 741, etc.
722025-xx 801140-xx –
With one connector (female) 634265-xx – 309778-xx309779-xx1)
With one right-angle connector (female) 606317-xx – –
Cable only – – 816322-xx
Italics: Cable with assignment for “encoder shaft speed” input (MotEnc EnDat)1) Without incremental signalsAP: Cross section of power supply lines
EnDat connecting cables 8-pin 17-pin M12 M23
106
PUR connecting cables
Communication and supply: 2 · ( 2 · 0.09 mm2) + 2 · 0.24 mm2
Power and PE: 1 · (3 · 1.5 mm2) + 1 · 1.5 mm2
1.5 mm2 4 mm2
With one Hybrid connecting element with HMC 6 power wires
1034933-xx 1076352-xx
EnDat connecting cables 8-pin 19-pin M12 M23
PUR adapter cable
[1(4 · 0.14 mm2) + (4 · 0.34 mm2)]; AP = 0.34 mm2EnDat without incremental signals
Complete with M23 connector (female), 9-pin, and M12 coupling (male), 8-pin
6 mm 8 mm
1136863-xx1136874-xx
Complete with M23 connector (female), 9-pin, and D-sub connector (female), 15-pin, for PWM 20
6 mm 1173166-xx
AP: Cross section of power supply lines
Siemens connecting cable
HMC 6 connecting cable
PUR connecting cable 6.8 m; [2 · (2 · 0.17 mm2) + (2 · 0.24 mm2)]; AP = 0.24 mm2
Complete with M12 connector (female) and M12 coupling (male), 8 pins each
822504-xx
Complete with 8-pin M12 connector (female) and Siemens RJ45 connector (IP67)
1094652-xx
Complete with 8-pin M12 connector (female) and Siemens RJ45 connector (IP20)
1093042-xx
Complete with 9-pin M23 SpeedTEC connector (female) and Siemens RJ45 connector (IP20)
1121546-xx
Complete with 9-pin M23 connector (female) and Siemens RJ45 connector (IP20)
1117540-xx
AP: Cross section of power supply lines
You can fi nd more information on the HMC 6 in the Product Information document HMC 6.
107
Interface electronics
Interface electronics from HEIDENHAIN adapt the encoder signals to the interface of the subsequent electronics. They are used when the subsequent electronics cannot directly process the output signals from HEIDENHAIN encoders, or if additional interpolation of the signals is necessary.
Box design
Plug design
Version for integration
Top-hat rail design
Input signals of the interface electronics
Interface electronics from HEIDENHAIN can be connected to encoders with sinusoidal signals of 1 VPP (voltage signals) or 11 µAPP (current signals). Encoders with the serial interfaces EnDat or SSI can also be connected to various interface electronics.
Output signals of the interface
electronics
Interface electronics with the following interfaces to the subsequent electronics are available:• TTL square-wave pulse trains• EnDat 2.2• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Yaskawa Serial Interface• Profi bus
Interpolation of the sinusoidal input
signals
In addition to being converted, the sinusoidal encoder signals are also interpolated in the interface electronics. This permits fi ner measuring steps and, as a result, higher control quality and better positioning behavior.
Formation of a position value
Some interface electronics have an integrated counting function. Starting from the last reference point set, an absolute position value is formed when the reference mark is traversed, and is transferred to the subsequent electronics.
DRIVE-CLiQ is a registered trademarkof SIEMENS AG.
108
Outputs Inputs Design –
degree of protection
Interpolation1)
or
subdivision
Model
Interface Qty. Interface Qty.
TTL 1 1 VPP 1 Box design – IP65 5/10-fold IBV 101
20/25/50/100-fold IBV 102
Without interpolation IBV 600
25/50/100/200/400-fold IBV 660 B
Plug design – IP40 5/10/20/25/50/100-fold APE 371
Version for integration – IP00
5/10-fold IDP 181
20/25/50/100-fold IDP 182
11 µAPP 1 Box design – IP65 5/10-fold EXE 101
20/25/50/100-fold EXE 102
Without/5-fold EXE 602 E
25/50/100/200/400-fold EXE 660 B
Version for integration – IP00
5-fold IDP 101
TTL/ 1 VPPAdjustable
2 1 VPP 1 Box design – IP65 2-fold IBV 6072
5/10-fold IBV 6172
5/10-fold and20/25/50/100-fold
IBV 6272
EnDat 2.2 1 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192
Plug design – IP40 16 384-fold subdivision EIB 392
2 Box design – IP65 16 384-fold subdivision EIB 1512
DRIVE-CLiQ 1 EnDat 2.2 1 Box design – IP65 – EIB 2391 S
Fanuc Serial Interface
1 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192 F
Plug design – IP40 16 384-fold subdivision EIB 392 F
2 Box design – IP65 16 384-fold subdivision EIB 1592 F
Mitsubishi high speed interface
1 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192 M
Plug design – IP40 16 384-fold subdivision EIB 392 M
2 Box design – IP65 16 384-fold subdivision EIB 1592 M
Yaskawa Serial Interface
1 EnDat 2.22) 1 Plug design – IP40 – EIB 3391 Y
PROFIBUS-DP 1 EnDat 2.1; EnDat 2.2 1 Top-hat rail design – PROFIBUS
Gateway
1) Switchable 2) Only LIC 4100 with 5 nm measuring step, LIC 2100 with 50 nm and 100 nm measuring steps
DRIVE-CLiQ is a registered trademark of SIEMENS AG.
109
Diagnostic and testing equipment
Diagnostics in the control loop on HEIDENHAIN controls with display of the valuation number or the analog encoder signals
Diagnostics using PWM 20 and ATS software
Commissioning using PWM 20 and ATS software
HEIDENHAIN encoders provide all information necessary for commissioning, monitoring and diagnostics. The type of available information depends on whether the encoder is incremental or absolute and which interface is used.
Incremental encoders mainly have 1 VPP , TTL or HTL interfaces. TTL and HTL encoders monitor their signal amplitudes internally and generate a simple fault detection signal. With 1 VPP signals, the analysis of output signals is possible only in external test devices or through computation in the subsequent electronics (analog diagnostics interface).
Absolute encoders operate with serial data transfer. Depending on the interface, additional 1 VPP incremental signals can be output. The signals are monitored comprehensively within the encoder. The monitoring result (especially with valuation numbers) can be transferred along with the position values through the serial interface to the subsequent electronics (digital diagnostics interface). The following information is available:• Error message: Radio connection is not
reliable.• Warning: An internal functional limit of
the encoder has been reached• Valuation numbers:
– Detailed information on the encoder’s functional reserve
– Identical scaling for all HEIDENHAIN encoders
– Cyclic output is possibleThis enables the subsequent electronics to evaluate the current status of the encoder with little effort even in closed-loop mode.
HEIDENHAIN offers the appropriate PWM inspection devices and PWT test devices for encoder analysis. There are two types of diagnostics, depending on how the devices are integrated:• Encoder diagnostics: The encoder is
connected directly to the test or inspection device. This makes a comprehensive analysis of encoder functions possible.
• Diagnostics in the control loop: The PWM phase meter is looped into the closed control loop (e.g. through a suitable testing adapter). This makes a real-time diagnosis of the machine or system possible during operation. The functions depend on the interface.
110
PWM 20
Together with the included ATS adjusting and testing software, the PWM 20 phase angle measuring unit serves for diagnosis and adjustment of HEIDENHAIN encoders.
PWM 20
Encoder input • EnDat 2.1 or EnDat 2.2 (absolute value with or without incremental signals)
• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Yaskawa Serial Interface• Panasonic serial interface• SSI• 1 VPP/TTL/11 µAPP• HTL (via signal adapter)
Interface USB 2.0
Voltage supply AC 100 V to 240 V or DC 24 V
Dimensions 258 mm × 154 mm × 55 mm
ATS
Languages Choice between English and German
Functions • Position display• Connection dialog• Diagnostics• Mounting wizard for EBI/ECI/EQI, LIP 200, LIC 4000
and others• Additional functions (if supported by the encoder)• Memory contents
System requirements and
recommendations
PC (dual-core processor > 2 GHz)RAM > 2 GBOperating systems: Windows Vista (32-bit), 7, 8, and 10 (32-bit/64-bit)500 MB free space on hard disk
DRIVE-CLiQ is a registered trademark of SIEMENS AG.
The PWM 9 is a universal measuring device for inspecting and adjusting HEIDENHAIN incremental encoders. Expansion modules are available for checking the various types of encoder signals. The values can be read on an LCD monitor. Soft keys provide ease of operation.
PWM 9
Inputs Expansion modules (interface boards) for 11 µAPP; 1 VPP; TTL; HTL; EnDat*/SSI*/commutation signals* No display of position values or parameters
Functions • Measurement of signal amplitudes, current consumption, operating voltage, scanning frequency
• Graphic display of incremental signals (amplitudes, phase angle and on-off ratio) and the reference-mark signal (width and position)
• Display symbols for the reference mark, fault detection signal, counting direction
• Universal counter, interpolation selectable from single to 1024-fold
• Adjustment support for exposed linear encoders
Outputs • Inputs are connected through to the subsequent electronics
• BNC sockets for connection to an oscilloscope
Voltage supply DC 10 V to 30 V, max. 15 W
Dimensions 150 mm × 205 mm × 96 mm
For more information, see the PWM 20/ATS Software Product Information document.
PL APS02-384 Warszawa, Polandwww.heidenhain.pl
PT FARRESA ELECTRÓNICA, LDA.4470 - 177 Maia, Portugalwww.farresa.pt
RO HEIDENHAIN Reprezentanta RomaniaBrasov, 500407, Romaniawww.heidenhain.ro
RS Serbia BG
RU OOO HEIDENHAIN115172 Moscow, Russiawww.heidenhain.ru
SE HEIDENHAIN Scandinavia AB12739 Skärholmen, Swedenwww.heidenhain.se
SG HEIDENHAIN PACIFIC PTE LTDSingapore 408593www.heidenhain.com.sg
SK KOPRETINA TN s.r.o.91101 Trencin, Slovakiawww.kopretina.sk
SL NAVO d.o.o.2000 Maribor, Sloveniawww.heidenhain.si
TH HEIDENHAIN (THAILAND) LTDBangkok 10250, Thailandwww.heidenhain.co.th
TR T&M Mühendislik San. ve Tic. LTD. STI·.
34775 Y. Dudullu – Ümraniye-Istanbul, Turkeywww.heidenhain.com.tr
TW HEIDENHAIN Co., Ltd.Taichung 40768, Taiwan R.O.C.www.heidenhain.com.tw
UA Gertner Service GmbH Büro Kiev 01133 Kiev, Ukrainewww.heidenhain.ua
US HEIDENHAIN CORPORATIONSchaumburg, IL 60173-5337, USAwww.heidenhain.com
VE Maquinaria Diekmann S.A. Caracas, 1040-A, VenezuelaE-mail: purchase@diekmann.com.ve
VN AMS Co. LtdHCM City, VietnamE-mail: davidgoh@amsvn.com
ZA MAFEMA SALES SERVICES C.C.Midrand 1685, South Africawww.heidenhain.co.za
ES FARRESA ELECTRONICA S.A.08028 Barcelona, Spainwww.farresa.es
FI HEIDENHAIN Scandinavia AB01740 Vantaa, Finlandwww.heidenhain.fi
FR HEIDENHAIN FRANCE sarl92310 Sèvres, Francewww.heidenhain.fr
GB HEIDENHAIN (G.B.) LimitedBurgess Hill RH15 9RD, United Kingdomwww.heidenhain.co.uk
GR MB Milionis Vassilis17341 Athens, Greecewww.heidenhain.gr
HK HEIDENHAIN LTDKowloon, Hong KongE-mail: sales@heidenhain.com.hk
HR Croatia SL
HU HEIDENHAIN Kereskedelmi Képviselet1239 Budapest, Hungarywww.heidenhain.hu
ID PT Servitama Era ToolsindoJakarta 13930, IndonesiaE-mail: ptset@group.gts.co.id
IL NEUMO VARGUS MARKETING LTD.Tel Aviv 61570, IsraelE-mail: neumo@neumo-vargus.co.il
IN HEIDENHAIN Optics & ElectronicsIndia Private LimitedChetpet, Chennai 600 031, Indiawww.heidenhain.in
IT HEIDENHAIN ITALIANA S.r.l.20128 Milano, Italywww.heidenhain.it
JP HEIDENHAIN K.K.Tokyo 102-0083, Japanwww.heidenhain.co.jp
KR HEIDENHAIN Korea LTD.Gasan-Dong, Seoul, Korea 153-782www.heidenhain.co.kr
MX HEIDENHAIN CORPORATION MEXICO20290 Aguascalientes, AGS., MexicoE-mail: info@heidenhain.com
MY ISOSERVE SDN. BHD.43200 Balakong, SelangorE-mail: sales@isoserve.com.my
NL HEIDENHAIN NEDERLAND B.V.6716 BM Ede, Netherlandswww.heidenhain.nl
NO HEIDENHAIN Scandinavia AB7300 Orkanger, Norwaywww.heidenhain.no
PH MACHINEBANKS' CORPORATIONQuezon City, Philippines 1113E-mail: info@machinebanks.com
AR NAKASE SRL.B1653AOX Villa Ballester, Argentinawww.heidenhain.com.ar
AT HEIDENHAIN Techn. Büro Österreich83301 Traunreut, Germanywww.heidenhain.de
AU FCR MOTION TECHNOLOGY PTY LTD3026 Victoria, AustraliaE-mail: sales@fcrmotion.com
BE HEIDENHAIN NV/SA1760 Roosdaal, Belgiumwww.heidenhain.be
BG ESD Bulgaria Ltd.Sofi a 1172, Bulgariawww.esd.bg
BR DIADUR Indústria e Comércio Ltda.04763-070 – São Paulo – SP, Brazilwww.heidenhain.com.br
BY GERTNER Service GmbH220026 Minsk, Belaruswww.heidenhain.by
CA HEIDENHAIN CORPORATIONMississauga, OntarioL5T2N2, Canadawww.heidenhain.com
CH HEIDENHAIN (SCHWEIZ) AG8603 Schwerzenbach, Switzerlandwww.heidenhain.ch
CN DR. JOHANNES HEIDENHAIN (CHINA) Co., Ltd.Beijing 101312, Chinawww.heidenhain.com.cn
CZ HEIDENHAIN s.r.o.102 00 Praha 10, Czech Republicwww.heidenhain.cz
DK TP TEKNIK A/S2670 Greve, Denmarkwww.tp-gruppen.dk
DE HEIDENHAIN Vertrieb Deutschland83301 Traunreut, Deutschland 08669 31-3132 08669 32-3132E-Mail: hd@heidenhain.de
HEIDENHAIN Technisches Büro Nord12681 Berlin, Deutschland 030 54705-240
HEIDENHAIN Technisches Büro Mitte07751 Jena, Deutschland 03641 4728-250
HEIDENHAIN Technisches Büro West44379 Dortmund, Deutschland 0231 618083-0
HEIDENHAIN Technisches Büro Südwest70771 Leinfelden-Echterdingen, Deutschland 0711 993395-0
HEIDENHAIN Technisches Büro Südost83301 Traunreut, Deutschland 08669 31-1345
Vollständige und weitere Adressen siehe www.heidenhain.deFor complete and further addresses see www.heidenhain.de
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208922-2H · 10 · 10/2016 · CD · Printed in Germany